+ python -m lidar_slam --no-model /working/bf93c59f-27bf-49ef-9b80-e53a775838a6 Lidar SLAM 0.0.12 ===================================================== The recording path: /working/bf93c59f-27bf-49ef-9b80-e53a775838a6 The start distance for SLAM: 0.0 The end distance for SLAM: 9.223372036854776e+18 The step lidar is being SLAMMed with: 0.03 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 0.026296757 Adjusted end_distance from 9.223372036854776e+18 to 238.266296757 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.026296757 meters 0.09597356733530316 Centerline is valid? [0, True] SLAMing on 0.056296757 meters 0.1094736492145444 Centerline is valid? [True, False] Translation: X:0.02, Y:0.05, Z:-0.01 [[ 0.99967253 0.02313337 -0.0109402 0.02282391] [-0.02308992 0.99972506 0.00408058 0.04876633] [ 0.01103159 -0.00382664 0.99993183 -0.00923963] [ 0. 0. 0. 1. ]] SLAMing on 0.086296757 meters 0.12071920226484932 Centerline is valid? [False, False] Translation: X:0.02, Y:0.01, Z:-0.02 [[ 0.99972929 0.02178145 -0.00817974 0.02291685] [-0.0217668 0.99976131 0.00187608 0.00890426] [ 0.00821865 -0.00169752 0.99996479 -0.01868436] [ 0. 0. 0. 1. ]] SLAMing on 0.11629675700000001 meters 0.11817377693306293 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-0.03 [[ 0.99979344 0.01594149 -0.01260756 0.03812976] [-0.01590861 0.9998698 0.00270346 -0.06952131] [ 0.01264902 -0.00250233 0.99991687 -0.02578271] [ 0. 0. 0. 1. ]] SLAMing on 0.146296757 meters 0.12733701201462685 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.11, Z:-0.04 [[ 0.99999156 0.00361239 -0.00195747 0.04331838] [-0.00359605 0.99995919 0.00828793 -0.11269894] [ 0.00198733 -0.00828082 0.99996374 -0.03535086] [ 0. 0. 0. 1. ]] SLAMing on 0.17629675700000003 meters 0.14031790219086002 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.16, Z:-0.03 [[ 0.99995678 0.0078056 -0.00505113 0.05115296] [-0.00775861 0.99992705 0.00925691 -0.15571804] [ 0.00512302 -0.00921732 0.9999444 -0.03411295] [ 0. 0. 0. 1. ]] SLAMing on 0.20629675700000003 meters 0.14320705854884333 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.23, Z:-0.04 [[ 0.9999783 -0.00332277 0.00568779 0.05628461] [ 0.00325563 0.99992541 0.01177205 -0.22704127] [-0.00572649 -0.01175327 0.99991453 -0.0381173 ] [ 0. 0. 0. 1. ]] SLAMing on 0.23629675700000002 meters 0.15559444448663814 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.29, Z:-0.03 [[ 0.9999703 0.00100426 0.00764118 0.04601543] [-0.0011258 0.99987265 0.01591883 -0.29017812] [-0.00762422 -0.01592696 0.99984409 -0.0313986 ] [ 0. 0. 0. 1. ]] SLAMing on 0.266296757 meters 0.15012678292919127 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.22, Z:-0.04 [[ 0.99991691 0.00238123 -0.01266905 0.06367056] [-0.00244208 0.99998555 -0.00478962 -0.21885243] [ 0.01265746 0.00482016 0.99990827 -0.03707393] [ 0. 0. 0. 1. ]] SLAMing on 0.296296757 meters 0.16316985154123212 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.24, Z:-0.05 [[ 0.9999647 -0.00776111 -0.00321986 0.07423288] [ 0.00775646 0.99996886 -0.0014548 -0.24029162] [ 0.00323105 0.00142977 0.99999376 -0.04918529] [ 0. 0. 0. 1. ]] SLAMing on 0.32629675700000005 meters 0.1763923089004409 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.24, Z:-0.05 [[ 0.99997962 -0.00500189 -0.00396688 0.07764355] [ 0.00500995 0.9999854 0.00202501 -0.2417688 ] [ 0.00395669 -0.00204484 0.99999008 -0.05213955] [ 0. 0. 0. 1. ]] SLAMing on 0.356296757 meters 0.16161480102008738 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.24, Z:-0.05 [[ 0.99997802 -0.00529393 -0.00399275 0.07755678] [ 0.00530005 0.99998479 0.00152384 -0.24055146] [ 0.00398462 -0.00154497 0.99999087 -0.05196518] [ 0. 0. 0. 1. ]] SLAMing on 0.38629675700000005 meters 0.16852467554689587 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.24, Z:-0.05 [[ 0.99997765 -0.00536652 -0.00398731 0.07772117] [ 0.00537212 0.9999846 0.00139527 -0.24022044] [ 0.00397976 -0.00141666 0.99999108 -0.05219118] [ 0. 0. 0. 1. ]] SLAMing on 0.416296757 meters 0.17010447793635322 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.24, Z:-0.05 [[ 0.99997886 -0.00518787 -0.00392059 0.07778646] [ 0.00519451 0.99998509 0.00168494 -0.24091928] [ 0.00391179 -0.00170527 0.99999089 -0.05247115] [ 0. 0. 0. 1. ]] SLAMing on 0.44629675700000004 meters 0.17134672367405412 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.24, Z:-0.05 [[ 9.99975605e-01 -5.79219171e-03 -3.90382872e-03 7.78978924e-02] [ 5.79486743e-03 9.99982982e-01 6.74446355e-04 -2.38371689e-01] [ 3.89985576e-03 -6.97052071e-04 9.99992153e-01 -5.25411246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.476296757 meters 0.16407453223400575 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.24, Z:-0.05 [[ 9.99970898e-01 -6.48092362e-03 -4.02513001e-03 7.79120752e-02] [ 6.47915694e-03 9.99978908e-01 -4.51797675e-04 -2.35518935e-01] [ 4.02797318e-03 4.25705077e-04 9.99991797e-01 -5.21149265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.506296757 meters 0.1747730944913003 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.23, Z:-0.05 [[ 9.99969083e-01 -6.73227919e-03 -4.06320994e-03 7.79696130e-02] [ 6.72883916e-03 9.99976992e-01 -8.59704664e-04 -2.34496920e-01] [ 4.06890422e-03 8.32337398e-04 9.99991376e-01 -5.20266096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.536296757 meters 0.16873603890360137 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.24, Z:-0.05 [[ 9.99970413e-01 -6.48538181e-03 -4.13676715e-03 7.80828831e-02] [ 6.48366268e-03 9.99978889e-01 -4.28849382e-04 -2.35557172e-01] [ 4.13946107e-03 4.02015291e-04 9.99991352e-01 -5.20027593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.566296757 meters 0.16499317306360356 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.24, Z:-0.05 [[ 9.99970661e-01 -6.42998224e-03 -4.16327642e-03 7.79503597e-02] [ 6.42862206e-03 9.99979278e-01 -3.40010391e-04 -2.35757113e-01] [ 4.16537641e-03 3.13236285e-04 9.99991276e-01 -5.17509884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5962967570000001 meters 0.1652307432549209 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.24, Z:-0.05 [[ 9.99969256e-01 -6.55293657e-03 -4.30644928e-03 7.82355639e-02] [ 6.55082894e-03 9.99978416e-01 -5.03335694e-04 -2.35295611e-01] [ 4.30965466e-03 4.75109408e-04 9.99990601e-01 -5.16711665e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6262967570000001 meters 0.16107643182330594 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.23, Z:-0.05 [[ 9.99967136e-01 -6.84473807e-03 -4.34479583e-03 7.85597109e-02] [ 6.84051508e-03 9.99976117e-01 -9.86082978e-04 -2.34101728e-01] [ 4.35144155e-03 9.56329930e-04 9.99990075e-01 -5.19504205e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.656296757 meters 0.16876252854492418 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.23, Z:-0.06 [[ 0.99997858 -0.00380913 -0.00532317 0.08302677] [ 0.00382284 0.9999894 0.00256794 -0.23320721] [ 0.00531333 -0.00258823 0.99998253 -0.05525868] [ 0. 0. 0. 1. ]] SLAMing on 0.686296757 meters 0.16404443840510563 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.23, Z:-0.06 [[ 0.99997601 -0.0043037 -0.00542795 0.08324969] [ 0.00431322 0.99998918 0.00174332 -0.23115885] [ 0.00542039 -0.00176669 0.99998375 -0.05519882] [ 0. 0. 0. 1. ]] SLAMing on 0.7162967570000001 meters 0.15979310152157647 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.23, Z:-0.06 [[ 0.99997363 -0.00471956 -0.00551991 0.08374361] [ 0.0047254 0.99998829 0.00104375 -0.2293745 ] [ 0.00551492 -0.00106981 0.99998422 -0.05550588] [ 0. 0. 0. 1. ]] SLAMing on 0.7462967570000001 meters 0.15601230469083968 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:-0.06 [[ 9.99967842e-01 -5.47799032e-03 -5.85711594e-03 8.48772488e-02] [ 5.47455730e-03 9.99984833e-01 -6.02000037e-04 -2.24607334e-01] [ 5.86032486e-03 5.69915561e-04 9.99982666e-01 -5.60030708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7762967570000001 meters 0.15601230469083968 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.22, Z:-0.06 [[ 9.99967842e-01 -5.47799032e-03 -5.85711594e-03 8.48772488e-02] [ 5.47455730e-03 9.99984833e-01 -6.02000037e-04 -2.24607334e-01] [ 5.86032486e-03 5.69915561e-04 9.99982666e-01 -5.60030708e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.806296757 meters 0.14788565469439527 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:-0.06 [[ 0.99996351 -0.00611207 -0.00596909 0.08512634] [ 0.00610212 0.99997996 -0.00168514 -0.22182441] [ 0.00597927 0.00164866 0.99998076 -0.05588878] [ 0. 0. 0. 1. ]] SLAMing on 0.8362967570000001 meters 0.14837621926323272 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:-0.06 [[ 0.99997815 -0.00241379 -0.00615463 0.08582482] [ 0.00242438 0.99999559 0.00171269 -0.21950796] [ 0.00615047 -0.00172757 0.99997959 -0.05620309] [ 0. 0. 0. 1. ]] SLAMing on 0.8662967570000001 meters 0.15486107263197568 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.22, Z:-0.06 [[ 9.99974293e-01 -3.22079046e-03 -6.40628691e-03 8.67574277e-02] [ 3.22295258e-03 9.99994753e-01 3.27204281e-04 -2.15777709e-01] [ 6.40519944e-03 -3.47843028e-04 9.99979426e-01 -5.65620964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8962967570000001 meters 0.15125465766702154 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:-0.06 [[ 9.99970699e-01 -3.96291673e-03 -6.54954149e-03 8.70615002e-02] [ 3.95659927e-03 9.99991695e-01 -9.77240824e-04 -2.12440521e-01] [ 6.55335982e-03 9.51298278e-04 9.99978074e-01 -5.64467550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.926296757 meters 0.1593069367302578 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:-0.06 [[ 9.99977331e-01 -5.81431871e-04 -6.70812440e-03 8.87964226e-02] [ 5.95409941e-04 9.99997655e-01 2.08194350e-03 -2.10078644e-01] [ 6.70689817e-03 -2.08589039e-03 9.99975333e-01 -5.80337718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.956296757 meters 0.16082013773487264 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:-0.06 [[ 9.99975830e-01 -9.86160113e-04 -6.88241413e-03 8.96705026e-02] [ 9.95211221e-04 9.99998644e-01 1.31180574e-03 -2.08213447e-01] [ 6.88111115e-03 -1.31862349e-03 9.99975455e-01 -5.87021092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9862967570000001 meters 0.16196392900333478 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:-0.06 [[ 9.99974561e-01 -1.05398941e-03 -7.05454008e-03 9.11023407e-02] [ 1.06002132e-03 9.99999076e-01 8.51355189e-04 -2.07346647e-01] [ 7.05363624e-03 -8.58811495e-04 9.99974754e-01 -6.02515334e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.016296757 meters 0.15084392224953116 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.21, Z:-0.06 [[ 9.99972123e-01 -1.42874601e-03 -7.32878564e-03 9.18900772e-02] [ 1.42913695e-03 9.99998978e-01 4.81066497e-05 -2.05344041e-01] [ 7.32870942e-03 -5.85791470e-05 9.99973143e-01 -6.06298300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.046296757 meters 0.15088600731519464 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.20, Z:-0.06 [[ 9.99968391e-01 -1.71361369e-03 -7.76402407e-03 9.34268231e-02] [ 1.70657768e-03 9.99998127e-01 -9.12766827e-04 -2.02533475e-01] [ 7.76557366e-03 8.99488065e-04 9.99969443e-01 -6.16749112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.076296757 meters 0.14401594481925784 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:-0.06 [[ 0.99996643 0.00196352 -0.0079556 0.09505028] [-0.00194592 0.99999564 0.00221977 -0.20005 ] [ 0.00795993 -0.00220421 0.99996589 -0.06324277] [ 0. 0. 0. 1. ]] SLAMing on 1.106296757 meters 0.13519167188862022 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:-0.06 [[ 0.99996578 0.00163947 -0.00810842 0.09569263] [-0.00162644 0.99999738 0.00161331 -0.19859556] [ 0.00811104 -0.00160007 0.99996582 -0.06368909] [ 0. 0. 0. 1. ]] SLAMing on 1.136296757 meters 0.13314936485118098 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:-0.07 [[ 9.99964486e-01 1.38453284e-03 -8.31324631e-03 9.71465476e-02] [-1.37620037e-03 9.99998545e-01 1.00794945e-03 -1.97339847e-01] [ 8.31462975e-03 -9.96472959e-04 9.99964936e-01 -6.51916005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.166296757 meters 0.1325477297800381 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:-0.07 [[ 9.99964001e-01 1.28598348e-03 -8.38705238e-03 9.81502093e-02] [-1.27850100e-03 9.99998780e-01 8.97446253e-04 -1.97269688e-01] [ 8.38819625e-03 -8.86691091e-04 9.99964425e-01 -6.63780939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.196296757 meters 0.13217452781612501 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:-0.07 [[ 0.999963 0.00128939 -0.00850505 0.09905249] [-0.00128062 0.99999864 0.00103684 -0.1978795 ] [ 0.00850638 -0.00102591 0.99996329 -0.067337 ] [ 0. 0. 0. 1. ]] SLAMing on 1.226296757 meters 0.12653574988632174 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.20, Z:-0.07 [[ 9.99957640e-01 7.31776699e-04 -9.17509027e-03 1.04139921e-01] [-7.22080443e-04 9.99999177e-01 1.06007045e-03 -1.99251021e-01] [ 9.17585846e-03 -1.05340039e-03 9.99957346e-01 -7.22187942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.256296757 meters 0.1429452594079787 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:-0.08 [[ 9.99956480e-01 6.80999968e-04 -9.30451880e-03 1.07181884e-01] [-6.71382561e-04 9.99999237e-01 1.03671197e-03 -1.99157449e-01] [ 9.30521770e-03 -1.03041996e-03 9.99956175e-01 -7.55449191e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.286296757 meters 0.11869944714248953 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:-0.08 [[ 9.99954139e-01 4.28061583e-04 -9.56744435e-03 1.08469050e-01] [-4.21043226e-04 9.99999641e-01 7.35568731e-04 -1.98768153e-01] [ 9.56775579e-03 -7.31506689e-04 9.99953960e-01 -7.67183699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.316296757 meters 0.11739006375108312 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:-0.08 [[ 9.99953317e-01 3.37429079e-04 -9.65657327e-03 1.09215187e-01] [-3.31642889e-04 9.99999765e-01 6.00792026e-04 -1.98626049e-01] [ 9.65677372e-03 -5.97561446e-04 9.99953194e-01 -7.75297208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.346296757 meters 0.11706063918825985 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:-0.08 [[ 9.99952291e-01 2.38397759e-04 -9.76521868e-03 1.09954964e-01] [-2.34337660e-04 9.99999886e-01 4.16913530e-04 -1.98279464e-01] [ 9.76531695e-03 -4.14605281e-04 9.99952232e-01 -7.82703822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.376296757 meters 0.11667193416719751 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:-0.08 [[ 9.99951304e-01 4.34441711e-05 -9.86856738e-03 1.10779320e-01] [-4.34228763e-05 9.99999999e-01 2.37210958e-06 -1.97285005e-01] [ 9.86856747e-03 -1.94347248e-06 9.99951305e-01 -7.91710802e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.406296757 meters 0.11592953806611637 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:-0.08 [[ 9.99947783e-01 5.84743450e-05 -1.02190021e-02 1.13873808e-01] [-6.31166948e-05 9.99999895e-01 -4.53964100e-04 -1.95583454e-01] [ 1.02189745e-02 4.54585384e-04 9.99947682e-01 -8.23214369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.436296757 meters 0.115503601275049 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:-0.08 [[ 9.99946134e-01 -9.66995489e-05 -1.03787753e-02 1.14530897e-01] [ 8.96831586e-05 9.99999767e-01 -6.76495879e-04 -1.95173818e-01] [ 1.03788383e-02 6.75528638e-04 9.99945910e-01 -8.28241916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.466296757 meters 0.11351304679375215 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.20, Z:-0.08 [[ 9.99943046e-01 -5.94667551e-04 -1.06560562e-02 1.15648840e-01] [ 5.85854864e-04 9.99999484e-01 -8.30114550e-04 -1.95822906e-01] [ 1.06565443e-02 8.23824369e-04 9.99942878e-01 -8.36757695e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.496296757 meters 0.11473669367110169 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.20, Z:-0.08 [[ 9.99940801e-01 -7.64554110e-04 -1.08540026e-02 1.16624310e-01] [ 7.52539940e-04 9.99999100e-01 -1.11092945e-03 -1.95125877e-01] [ 1.08548422e-02 1.10269562e-03 9.99940476e-01 -8.44721254e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5262967570000001 meters 0.11414117426594703 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.19, Z:-0.09 [[ 0.99993642 -0.00118109 -0.01121464 0.11764722] [ 0.00115335 0.99999626 -0.0024802 -0.19099921] [ 0.01121753 0.00246711 0.99993404 -0.08504819] [ 0. 0. 0. 1. ]] SLAMing on 1.556296757 meters 0.11385392956905285 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.19, Z:-0.08 [[ 0.99993386 -0.00164833 -0.01138198 0.1178773 ] [ 0.00160855 0.99999257 -0.00350344 -0.18821873] [ 0.01138767 0.0034849 0.99992909 -0.08493903] [ 0. 0. 0. 1. ]] SLAMing on 1.586296757 meters 0.1151673587622907 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.19, Z:-0.09 [[ 9.99927957e-01 2.48129018e-03 -1.17441003e-02 1.19045469e-01] [-2.47368015e-03 9.99996721e-01 6.62468790e-04 -1.88060468e-01] [ 1.17457055e-02 -6.33369916e-04 9.99930816e-01 -8.56188750e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.616296757 meters 0.11328609114025197 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.19, Z:-0.09 [[ 9.99927334e-01 2.02540333e-03 -1.18837812e-02 1.19079572e-01] [-2.03086994e-03 9.99997837e-01 -4.47956448e-04 -1.85149950e-01] [ 1.18828482e-02 4.72058311e-04 9.99929285e-01 -8.52877560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.646296757 meters 0.11371964383276588 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.18, Z:-0.08 [[ 0.99990831 0.00596057 -0.01215946 0.11925934] [-0.00592568 0.99997823 0.00290355 -0.18265116] [ 0.01217651 -0.00283123 0.99992186 -0.08464473] [ 0. 0. 0. 1. ]] SLAMing on 1.676296757 meters 0.11130479202642608 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.18, Z:-0.08 [[ 0.99990922 0.00565235 -0.01223162 0.11891194] [-0.00563019 0.99998245 0.00184595 -0.17973432] [ 0.01224184 -0.00177691 0.99992349 -0.08386347] [ 0. 0. 0. 1. ]] SLAMing on 1.706296757 meters 0.11299995862895783 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.18, Z:-0.08 [[ 0.99990581 0.00630577 -0.01219084 0.11823869] [-0.00629002 0.99997933 0.00133027 -0.17699258] [ 0.01219897 -0.00125346 0.9999248 -0.08288126] [ 0. 0. 0. 1. ]] SLAMing on 1.736296757 meters 0.11451543821915024 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.18, Z:-0.08 [[ 9.99903762e-01 6.13684798e-03 -1.24421166e-02 1.18701774e-01] [-6.12675963e-03 9.99980871e-01 8.48777216e-04 -1.75676385e-01] [ 1.24470874e-02 -7.72465673e-04 9.99922234e-01 -8.28584797e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.766296757 meters 0.11282305788617178 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.17, Z:-0.08 [[ 9.99903376e-01 5.86954564e-03 -1.26010902e-02 1.18733507e-01] [-5.86667260e-03 9.99982756e-01 2.64952368e-04 -1.74181379e-01] [ 1.26024281e-02 -1.91000296e-04 9.99920568e-01 -8.24665210e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7962967570000001 meters 0.11394916185660173 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.17, Z:-0.08 [[ 9.99904046e-01 5.91896320e-03 -1.25245763e-02 1.17812571e-01] [-5.92086907e-03 9.99982465e-01 -1.15096524e-04 -1.72558901e-01] [ 1.25236755e-02 1.89241857e-04 9.99921558e-01 -8.09877955e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.826296757 meters 0.10997664111679034 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.17, Z:-0.08 [[ 9.99903419e-01 5.84113677e-03 -1.26108821e-02 1.17520973e-01] [-5.84181933e-03 9.99982936e-01 -1.72887138e-05 -1.72896874e-01] [ 1.26105659e-02 9.09575387e-05 9.99920480e-01 -8.01200371e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.856296757 meters 0.11256889757850684 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.17, Z:-0.08 [[ 9.99996203e-01 2.36665845e-03 1.41164874e-03 1.18896435e-01] [-2.36640577e-03 9.99997184e-01 -1.80638927e-04 -1.73101287e-01] [-1.41207227e-03 1.77297708e-04 9.99998987e-01 -8.33878861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.886296757 meters 0.10831961346108884 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.17, Z:-0.08 [[ 0.99999751 -0.00178049 0.00134616 0.11843669] [ 0.00178567 0.99999098 -0.00385439 -0.1743081 ] [-0.00133928 0.00385679 0.99999167 -0.08206695] [ 0. 0. 0. 1. ]] SLAMing on 1.916296757 meters 0.10750652872485518 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.18, Z:-0.08 [[ 0.9999983 -0.00144403 0.00114264 0.11902944] [ 0.00144722 0.99999503 -0.00279968 -0.17680346] [-0.00113859 0.00280133 0.99999543 -0.08227965] [ 0. 0. 0. 1. ]] SLAMing on 1.946296757 meters 0.10748866128909441 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.18, Z:-0.08 [[ 9.99998507e-01 -1.49118786e-03 8.72679183e-04 1.19988676e-01] [ 1.49178917e-03 9.99998650e-01 -6.88791779e-04 -1.83598316e-01] [-8.71650887e-04 6.90092604e-04 9.99999382e-01 -8.25636581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.976296757 meters 0.10464577712018755 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.19, Z:-0.08 [[ 9.99995295e-01 -2.74939216e-03 1.36053409e-03 1.17735905e-01] [ 2.75065783e-03 9.99995785e-01 -9.29276421e-04 -1.86941253e-01] [-1.35797341e-03 9.33014412e-04 9.99998643e-01 -8.02951571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0062967570000003 meters 0.10882868475723834 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.19, Z:-0.08 [[ 9.99995287e-01 -3.04141181e-03 4.18620725e-04 1.21966390e-01] [ 3.04154000e-03 9.99995328e-01 -3.05923172e-04 -1.90790139e-01] [-4.17688331e-04 3.07194982e-04 9.99999866e-01 -8.37517057e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.036296757 meters 0.10471624262818777 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:-0.08 [[ 9.99989307e-01 -8.91350280e-04 4.53772924e-03 1.10990010e-01] [ 9.15415785e-04 9.99985514e-01 -5.30411307e-03 -1.98063918e-01] [-4.53293569e-03 5.30821026e-03 9.99975637e-01 -8.47558216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.066296757 meters 0.1054650068696117 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:-0.09 [[ 9.99990521e-01 -3.79374583e-04 4.33756590e-03 1.11662127e-01] [ 3.97495494e-04 9.99991195e-01 -4.17756976e-03 -2.00571202e-01] [-4.33594284e-03 4.17925432e-03 9.99981867e-01 -8.51363698e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.096296757 meters 0.10716948657767057 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:-0.09 [[ 9.99990558e-01 1.49498082e-04 4.34293718e-03 1.11850788e-01] [-1.36847630e-04 9.99995748e-01 -2.91303051e-03 -2.03315578e-01] [-4.34335420e-03 2.91240868e-03 9.99986326e-01 -8.51114117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.126296757 meters 0.10680069236093367 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.20, Z:-0.08 [[ 9.99991260e-01 3.83584666e-04 4.16325628e-03 1.12037288e-01] [-3.73247246e-04 9.99996846e-01 -2.48350601e-03 -2.04051596e-01] [-4.16419578e-03 2.48193038e-03 9.99988250e-01 -8.47942356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1562967570000002 meters 0.1050591136941439 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.21, Z:-0.08 [[ 9.99991060e-01 6.63065189e-04 4.17623886e-03 1.11721810e-01] [-6.55802527e-04 9.99998271e-01 -1.74017309e-03 -2.05822560e-01] [-4.17738549e-03 1.73741875e-03 9.99989765e-01 -8.41474973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.186296757 meters 0.10345105908141458 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.21, Z:-0.08 [[ 9.99988421e-01 8.92780554e-04 4.72865708e-03 1.09129569e-01] [-8.93086973e-04 9.99999599e-01 6.26892524e-05 -2.11282744e-01] [-4.72859922e-03 -6.69116286e-05 9.99988818e-01 -8.11313615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2162967570000003 meters 0.12592676579591053 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.21, Z:-0.08 [[ 0.99998872 0.00129026 0.00457098 0.10923034] [-0.00129537 0.99999854 0.00111518 -0.2139242 ] [-0.00456954 -0.00112109 0.99998893 -0.08067999] [ 0. 0. 0. 1. ]] SLAMing on 2.246296757 meters 0.10352782287246329 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:-0.08 [[ 0.99998677 0.00197469 0.00474883 0.10863367] [-0.00198937 0.99999325 0.00308803 -0.2188975 ] [-0.0047427 -0.00309744 0.99998396 -0.07965909] [ 0. 0. 0. 1. ]] SLAMing on 2.276296757 meters 0.12397849832066905 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.22, Z:-0.08 [[ 0.99998634 0.00243468 0.004626 0.1087658 ] [-0.00245417 0.99998812 0.00421216 -0.22165006] [-0.00461569 -0.00422346 0.99998043 -0.07928863] [ 0. 0. 0. 1. ]] SLAMing on 2.306296757 meters 0.12681841200452104 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.23, Z:-0.08 [[ 9.99989016e-01 4.68657688e-03 5.50396633e-05 1.17871800e-01] [-4.68671128e-03 9.99985186e-01 2.76819532e-03 -2.28356153e-01] [-4.20654878e-05 -2.76842287e-03 9.99996167e-01 -7.76935216e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.336296757 meters 0.12492610916764188 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.23, Z:-0.08 [[ 9.99999762e-01 6.71550946e-04 1.55099215e-04 1.17499263e-01] [-6.71390922e-04 9.99999245e-01 -1.02951274e-03 -2.29302805e-01] [-1.55790468e-04 1.02940837e-03 9.99999458e-01 -7.72725361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.366296757 meters 0.12777896312420212 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.23, Z:-0.08 [[ 9.99999189e-01 1.27291240e-03 4.35752365e-05 1.17719305e-01] [-1.27292635e-03 9.99999138e-01 3.21506233e-04 -2.32478866e-01] [-4.31659497e-05 -3.21561441e-04 9.99999947e-01 -7.70989470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.396296757 meters 0.12529163984683223 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.24, Z:-0.08 [[ 9.99997462e-01 2.23537819e-03 2.81206706e-04 1.17021552e-01] [-2.23627990e-03 9.99992224e-01 3.24818781e-03 -2.39454473e-01] [-2.73943591e-04 -3.24880843e-03 9.99994685e-01 -7.59419398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4262967570000002 meters 0.12283083336090711 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.24, Z:-0.08 [[ 9.99996147e-01 2.77162593e-03 1.54067448e-04 1.17115265e-01] [-2.77230309e-03 9.99985650e-01 4.58404995e-03 -2.42677955e-01] [-1.41359966e-04 -4.58445941e-03 9.99989481e-01 -7.55526085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.456296757 meters 0.12008390450222833 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.25, Z:-0.07 [[ 9.99999864e-01 -4.26038061e-04 3.00522817e-04 1.16585225e-01] [ 4.25154812e-04 9.99995608e-01 2.93300682e-03 -2.48955043e-01] [-3.01771070e-04 -2.93287865e-03 9.99995654e-01 -7.45513063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4862967570000003 meters 0.11960422326544409 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.25, Z:-0.07 [[ 9.99998406e-01 -1.57788104e-03 8.36227678e-04 1.14330099e-01] [ 1.57553231e-03 9.99994833e-01 2.80197361e-03 -2.53022979e-01] [-8.40644538e-04 -2.80065163e-03 9.99995725e-01 -7.24108746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.516296757 meters 0.1181770771501488 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.26, Z:-0.07 [[ 9.99999378e-01 -8.53174314e-04 7.18137717e-04 1.14652502e-01] [ 8.49775740e-04 9.99988502e-01 4.71955798e-03 -2.57998669e-01] [-7.22156065e-04 -4.71894479e-03 9.99988605e-01 -7.24238532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.546296757 meters 0.11704717535437509 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.26, Z:-0.07 [[ 9.99988597e-01 -4.72796309e-03 6.72892809e-04 1.14692256e-01] [ 4.72707808e-03 9.99987968e-01 1.31080702e-03 -2.60026245e-01] [-6.79082160e-04 -1.30761126e-03 9.99998914e-01 -7.22477346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.576296757 meters 0.11333006588941157 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.27, Z:-0.07 [[ 9.99992460e-01 -3.81627601e-03 7.18244837e-04 1.14464398e-01] [ 3.81354512e-03 9.99985637e-01 3.76589234e-03 -2.66017723e-01] [-7.32606206e-04 -3.76312488e-03 9.99992651e-01 -7.14974409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.606296757 meters 0.1108038250684862 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.27, Z:-0.07 [[ 9.99994399e-01 -3.27851592e-03 6.73024917e-04 1.14256811e-01] [ 3.27508224e-03 9.99981930e-01 5.04109554e-03 -2.69197387e-01] [-6.89540068e-04 -5.03886310e-03 9.99987067e-01 -7.08435038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.636296757 meters 0.09411596038202091 Centerline is valid? [False, True] Translation: X:0.11, Y:-0.28, Z:-0.07 [[ 0.99998462 -0.00540445 0.00124898 0.11195813] [ 0.00539876 0.99997525 0.00451157 -0.27689214] [-0.00127333 -0.00450476 0.99998904 -0.06822466] [ 0. 0. 0. 1. ]] SLAMing on 2.666296757 meters 0.09411596038202091 Centerline is valid? [True, True] Translation: X:0.14, Y:-0.27, Z:-0.07 [[ 9.99987208e-01 -4.85226088e-03 1.42787437e-03 1.42707140e-01] [ 4.85217888e-03 9.99988226e-01 6.08861616e-05 -2.73224900e-01] [-1.42815299e-03 -5.39570809e-05 9.99998979e-01 -7.16432068e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6962967570000003 meters 0.09244795912440743 Centerline is valid? [True, True] Translation: X:0.17, Y:-0.28, Z:-0.07 [[ 9.99975840e-01 -3.99294401e-03 5.68997659e-03 1.74315817e-01] [ 3.99171119e-03 9.99992007e-01 2.28005664e-04 -2.77331319e-01] [-5.69084152e-03 -2.05287412e-04 9.99983786e-01 -7.14375089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.726296757 meters 0.09028238956684297 Centerline is valid? [True, True] Translation: X:0.21, Y:-0.28, Z:-0.07 [[ 9.99915895e-01 -3.64024063e-03 1.24479913e-02 2.05632839e-01] [ 3.63432214e-03 9.99993272e-01 4.98045246e-04 -2.80278064e-01] [-1.24497205e-02 -4.52763347e-04 9.99922397e-01 -7.24012087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7562967570000003 meters 0.08898808731165939 Centerline is valid? [True, True] Translation: X:0.24, Y:-0.29, Z:-0.08 [[ 9.99897686e-01 -8.45525112e-04 1.42794553e-02 2.37067134e-01] [ 8.37429327e-04 9.99999485e-01 5.72923176e-04 -2.85933386e-01] [-1.42799323e-02 -5.60906523e-04 9.99897879e-01 -7.65521718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.786296757 meters 0.08952824912770432 Centerline is valid? [True, True] Translation: X:0.27, Y:-0.29, Z:-0.08 [[ 9.99858172e-01 2.26262289e-03 1.66888152e-02 2.68783435e-01] [-2.27412130e-03 9.99997190e-01 6.70044108e-04 -2.88149573e-01] [-1.66872523e-02 -7.07901467e-04 9.99860508e-01 -7.94441586e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.816296757 meters 0.08991109518810012 Centerline is valid? [True, True] Translation: X:0.30, Y:-0.29, Z:-0.08 [[ 9.99848861e-01 5.25146082e-03 1.65733702e-02 3.00100920e-01] [-5.26316835e-03 9.99985930e-01 6.62867778e-04 -2.90093167e-01] [-1.65696560e-02 -7.49996030e-04 9.99862433e-01 -8.36140980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.846296757 meters 0.08912209605353351 Centerline is valid? [True, True] Translation: X:0.33, Y:-0.29, Z:-0.09 [[ 9.99731112e-01 1.10190270e-02 2.04030449e-02 3.30844254e-01] [-1.10379368e-02 9.99938748e-01 8.14423465e-04 -2.93042332e-01] [-2.03928210e-02 -1.03941200e-03 9.99791505e-01 -8.93941366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.876296757 meters 0.09024887692421853 Centerline is valid? [True, True] Translation: X:0.36, Y:-0.29, Z:-0.09 [[ 9.99680956e-01 1.44952381e-02 2.06851374e-02 3.61936882e-01] [-1.45153670e-02 9.99894308e-01 8.23290586e-04 -2.93870423e-01] [-2.06710174e-02 -1.12328028e-03 9.99785701e-01 -9.24806631e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9062967570000002 meters 0.08977568610473799 Centerline is valid? [True, True] Translation: X:0.39, Y:-0.30, Z:-0.10 [[ 9.99661873e-01 1.69664902e-02 1.97047822e-02 3.92388101e-01] [-1.69852065e-02 9.99855435e-01 7.82850137e-04 -3.00054766e-01] [-1.96886514e-02 -1.11727523e-03 9.99805535e-01 -9.95510426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.936296757 meters 0.09083926405775386 Centerline is valid? [True, True] Translation: X:0.42, Y:-0.30, Z:-0.10 [[ 9.99651356e-01 1.88277899e-02 1.85116252e-02 4.22664167e-01] [-1.88446299e-02 9.99822154e-01 7.35668367e-04 -3.04029362e-01] [-1.84944820e-02 -1.08425661e-03 9.99828375e-01 -1.03128243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9662967570000003 meters 0.09101477835175559 Centerline is valid? [True, True] Translation: X:0.45, Y:-0.31, Z:-0.11 [[ 9.99595097e-01 1.87035674e-02 2.14433748e-02 4.52938943e-01] [-1.87261161e-02 9.99824289e-01 8.51211607e-04 -3.07936841e-01] [-2.14236862e-02 -1.25241807e-03 9.99769702e-01 -1.07583745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.996296757 meters 0.0911621793539661 Centerline is valid? [True, True] Translation: X:0.49, Y:-0.31, Z:-0.11 [[ 9.99584729e-01 1.91121459e-02 2.15660495e-02 4.85625597e-01] [-1.91355971e-02 9.99816509e-01 8.81556462e-04 -3.14598209e-01] [-2.15452439e-02 -1.29386961e-03 9.99767037e-01 -1.11289380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0262967570000003 meters 0.09019746526260528 Centerline is valid? [True, True] Translation: X:0.52, Y:-0.32, Z:-0.12 [[ 9.99577879e-01 1.73664434e-02 2.32909945e-02 5.15906851e-01] [-1.73925451e-02 9.99848316e-01 9.18560876e-04 -3.16131289e-01] [-2.32715095e-02 -1.32326281e-03 9.99728306e-01 -1.16657982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.056296757 meters 0.09113251697848929 Centerline is valid? [True, True] Translation: X:0.55, Y:-0.32, Z:-0.12 [[ 9.99636531e-01 1.69466284e-02 2.09670495e-02 5.46092017e-01] [-1.69677103e-02 9.99855695e-01 8.27974787e-04 -3.18652291e-01] [-2.09499925e-02 -1.18343667e-03 9.99779824e-01 -1.21983788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.086296757 meters 0.08923381971731696 Centerline is valid? [True, True] Translation: X:0.58, Y:-0.32, Z:-0.13 [[ 9.99622769e-01 1.46047113e-02 2.32598671e-02 5.76238102e-01] [-1.46299734e-02 9.99892556e-01 9.16270798e-04 -3.19108059e-01] [-2.32439861e-02 -1.25621639e-03 9.99729033e-01 -1.26687275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.116296757 meters 0.08868532166977271 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.32, Z:-0.13 [[ 9.99627040e-01 1.32027521e-02 2.39053917e-02 6.07551205e-01] [-1.32291497e-02 9.99912043e-01 9.46434968e-04 -3.19544694e-01] [-2.38907935e-02 -1.26232999e-03 9.99713777e-01 -1.30892118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.146296757 meters 0.0879831443283094 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.32, Z:-0.13 [[ 0.9995745 0.00856668 0.02788231 0.63834059] [-0.0086006 0.99996241 0.00109696 -0.32469785] [-0.02787187 -0.0013363 0.99961061 -0.13251362] [ 0. 0. 0. 1. ]] SLAMing on 3.1762967570000002 meters 0.08640882072259237 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.33, Z:-0.14 [[ 0.99952952 0.00488336 0.0302803 0.66887013] [-0.00492169 0.99998718 0.00119137 -0.32749211] [-0.0302741 -0.00133984 0.99954074 -0.13538908] [ 0. 0. 0. 1. ]] SLAMing on 3.206296757 meters 0.08499950227244023 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.33, Z:-0.14 [[ 0.99942341 0.00105919 0.03393721 0.69945823] [-0.00110518 0.9999985 0.00133642 -0.32986969] [-0.03393575 -0.00137316 0.99942307 -0.13887118] [ 0. 0. 0. 1. ]] SLAMing on 3.2362967570000003 meters 0.08394122705394805 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.33, Z:-0.14 [[ 0.99927743 -0.00400596 0.03779646 0.73036394] [ 0.00395258 0.99999108 0.00148708 -0.32939639] [-0.03780208 -0.00133662 0.99928435 -0.14031845] [ 0. 0. 0. 1. ]] SLAMing on 3.266296757 meters 0.08341903078781972 Centerline is valid? [True, True] Translation: X:0.76, Y:-0.33, Z:-0.14 [[ 0.99924035 -0.00562781 0.03856238 0.76173251] [ 0.00557331 0.99998331 0.00152059 -0.32625568] [-0.03857029 -0.00130451 0.99925504 -0.14392839] [ 0. 0. 0. 1. ]] SLAMing on 3.2962967570000004 meters 0.08100386025233348 Centerline is valid? [True, True] Translation: X:0.79, Y:-0.32, Z:-0.14 [[ 0.99888994 -0.00778117 0.0464579 0.7923769 ] [ 0.00770464 0.99996865 0.00182603 -0.32205044] [-0.04647065 -0.00146607 0.99891858 -0.1440118 ] [ 0. 0. 0. 1. ]] SLAMing on 3.326296757 meters 0.08031013002722384 Centerline is valid? [True, True] Translation: X:0.82, Y:-0.32, Z:-0.15 [[ 0.99876906 -0.00667494 0.04915088 0.82260854] [ 0.00658803 0.99997644 0.00193018 -0.31834281] [-0.0491626 -0.00160399 0.9987895 -0.14656606] [ 0. 0. 0. 1. ]] SLAMing on 3.356296757 meters 0.08050377752503134 Centerline is valid? [True, True] Translation: X:0.85, Y:-0.31, Z:-0.15 [[ 0.99881236 -0.0048575 0.04847971 0.85390645] [ 0.00477013 0.99998678 0.00191783 -0.31488202] [-0.04848838 -0.0016843 0.99882233 -0.14965373] [ 0. 0. 0. 1. ]] SLAMing on 3.386296757 meters 0.07984825614445921 Centerline is valid? [True, True] Translation: X:0.88, Y:-0.31, Z:-0.15 [[ 0.9987096 -0.00341533 0.05067018 0.88484571] [ 0.00331919 0.99999253 0.00198131 -0.30985288] [-0.05067657 -0.00181057 0.99871348 -0.153845 ] [ 0. 0. 0. 1. ]] SLAMing on 3.416296757 meters 0.07969541460254086 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.31, Z:-0.16 [[ 0.99865962 -0.00255712 0.05169548 0.91715587] [ 0.00245583 0.99999494 0.0020227 -0.30594271] [-0.05170039 -0.00189303 0.99866085 -0.15814822] [ 0. 0. 0. 1. ]] SLAMing on 3.4462967570000003 meters 0.07990067976872531 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.30, Z:-0.16 [[ 9.98560786e-01 -4.54325545e-04 5.36297546e-02 9.48166874e-01] [ 3.42059852e-04 9.99997731e-01 2.10250746e-03 -2.97485694e-01] [-5.36305882e-02 -2.08113692e-03 9.98558676e-01 -1.63215522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.476296757 meters 0.07966981785201475 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.29, Z:-0.17 [[ 9.98477160e-01 -4.25071747e-04 5.51650289e-02 9.79486490e-01] [ 3.07529359e-04 9.99997665e-01 2.13921238e-03 -2.93772020e-01] [-5.51658094e-02 -2.11898984e-03 9.98474959e-01 -1.66912064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5062967570000003 meters 0.07927174187048726 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.29, Z:-0.17 [[ 0.99846669 -0.00124558 0.05534178 1.01171913] [ 0.00112858 0.99999706 0.00214529 -0.29110242] [-0.05534429 -0.00207954 0.99846516 -0.17232694] [ 0. 0. 0. 1. ]] SLAMing on 3.536296757 meters 0.07874657569746897 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.29, Z:-0.18 [[ 0.99855801 -0.00423385 0.05351618 1.04255389] [ 0.00412869 0.99998932 0.00207543 -0.28776881] [-0.0535244 -0.00185149 0.99856483 -0.17948444] [ 0. 0. 0. 1. ]] SLAMing on 3.5662967570000004 meters 0.07819699193697147 Centerline is valid? [True, True] Translation: X:1.07, Y:-0.29, Z:-0.18 [[ 0.99854644 -0.0060595 0.05355641 1.07406743] [ 0.00595705 0.99998011 0.00207228 -0.28674671] [-0.0535679 -0.00175023 0.99856268 -0.18441018] [ 0. 0. 0. 1. ]] SLAMing on 3.596296757 meters 0.07782481938204165 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.29, Z:-0.19 [[ 0.9985366 -0.01093845 0.05296241 1.10400854] [ 0.01084638 0.99993912 0.00202544 -0.28978903] [-0.05298134 -0.00144802 0.99859445 -0.19128079] [ 0. 0. 0. 1. ]] SLAMing on 3.626296757 meters 0.07719872771930933 Centerline is valid? [True, True] Translation: X:1.14, Y:-0.29, Z:-0.20 [[ 0.99856567 -0.01363148 0.05177621 1.1366547 ] [ 0.01354639 0.99990626 0.00199399 -0.28995858] [-0.05179854 -0.00128975 0.99865672 -0.19646393] [ 0. 0. 0. 1. ]] SLAMing on 3.6562967570000002 meters 0.07713581136918053 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.29, Z:-0.20 [[ 9.98561439e-01 -1.59276302e-02 5.11992414e-02 1.16790584e+00] [ 1.58481811e-02 9.99872494e-01 1.95738675e-03 -2.88781845e-01] [-5.12238897e-02 -1.14315608e-03 9.98686541e-01 -2.02886747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.686296757 meters 0.07723975442671284 Centerline is valid? [True, True] Translation: X:1.20, Y:-0.29, Z:-0.21 [[ 9.98691841e-01 -2.04598883e-02 4.68614889e-02 1.19659621e+00] [ 2.03994142e-02 9.99790346e-01 1.76840839e-03 -2.88132954e-01] [-4.68878456e-02 -8.10148108e-04 9.98899832e-01 -2.11844669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7162967570000003 meters 0.0771730056292273 Centerline is valid? [True, True] Translation: X:1.23, Y:-0.29, Z:-0.22 [[ 9.98727901e-01 -2.16020860e-02 4.55623709e-02 1.22802209e+00] [ 2.15454436e-02 9.99766366e-01 1.73396039e-03 -2.88676776e-01] [-4.55891832e-02 -7.50093129e-04 9.98959991e-01 -2.16696517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.746296757 meters 0.07713280936471065 Centerline is valid? [True, True] Translation: X:1.26, Y:-0.29, Z:-0.22 [[ 9.98638858e-01 -2.20176560e-02 4.72827092e-02 1.25799085e+00] [ 2.19579431e-02 9.99757307e-01 1.78198736e-03 -2.86383939e-01] [-4.73104692e-02 -7.41330788e-04 9.98879958e-01 -2.21284171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7762967570000003 meters 0.07699183254366355 Centerline is valid? [True, True] Translation: X:1.29, Y:-0.28, Z:-0.22 [[ 9.98489965e-01 -2.18980599e-02 5.03812005e-02 1.28876866e+00] [ 2.18306333e-02 9.99759900e-01 1.88828223e-03 -2.84719891e-01] [-5.04104537e-02 -7.85577341e-04 9.98728276e-01 -2.24483136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.806296757 meters 0.07701991766764144 Centerline is valid? [True, True] Translation: X:1.32, Y:-0.28, Z:-0.23 [[ 9.98484025e-01 -2.08946795e-02 5.09221384e-02 1.32048017e+00] [ 2.08238617e-02 9.99781315e-01 1.92091135e-03 -2.82488743e-01] [-5.09511393e-02 -8.57603734e-04 9.98700779e-01 -2.27954605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8362967570000004 meters 0.07712748557788403 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.28, Z:-0.23 [[ 9.98375649e-01 -1.77940474e-02 5.41242562e-02 1.34956570e+00] [ 1.77109185e-02 9.99841119e-01 2.01518702e-03 -2.77309660e-01] [-5.41515152e-02 -1.05332335e-03 9.98532175e-01 -2.31177716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.866296757 meters 0.07484717924711512 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.28, Z:-0.22 [[ 9.98307767e-01 -1.56787451e-02 5.59980303e-02 1.38309077e+00] [ 1.55855724e-02 9.99876332e-01 2.10021904e-03 -2.77770075e-01] [-5.60240340e-02 -1.22390363e-03 9.98428670e-01 -2.22414767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.896296757 meters 0.07584209465834908 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.27, Z:-0.23 [[ 9.98372939e-01 -1.17939488e-02 5.57886901e-02 1.41221349e+00] [ 1.16968751e-02 9.99929454e-01 2.06624713e-03 -2.70184297e-01] [-5.58091237e-02 -1.41033188e-03 9.98440460e-01 -2.28877393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9262967570000002 meters 0.07636007962016603 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.27, Z:-0.23 [[ 0.99838129 -0.01027711 0.05593906 1.44415793] [ 0.01017639 0.99994605 0.00208508 -0.26729228] [-0.05595747 -0.00151244 0.99843201 -0.23354632] [ 0. 0. 0. 1. ]] SLAMing on 3.956296757 meters 0.07685946452067849 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.26, Z:-0.24 [[ 0.99837799 -0.00913571 0.05619552 1.47659234] [ 0.00903287 0.99995703 0.0020838 -0.26485136] [-0.05621214 -0.00157281 0.99841761 -0.23949625] [ 0. 0. 0. 1. ]] SLAMing on 3.9862967570000003 meters 0.07700190438285565 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.26, Z:-0.24 [[ 0.99830302 -0.00771639 0.05771953 1.50705426] [ 0.00760657 0.99996882 0.00212202 -0.26238382] [-0.05773411 -0.00167937 0.99833058 -0.24378875] [ 0. 0. 0. 1. ]] SLAMing on 4.016296757 meters 0.07738372293475444 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.26, Z:-0.25 [[ 0.99835493 -0.00733515 0.05686493 1.53894692] [ 0.00722854 0.99997171 0.00208019 -0.26112772] [-0.05687858 -0.00166572 0.99837971 -0.24794037] [ 0. 0. 0. 1. ]] SLAMing on 4.046296757 meters 0.07727301232275799 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.26, Z:-0.25 [[ 0.99833823 -0.00837582 0.05701424 1.57117373] [ 0.0082714 0.99996365 0.00206719 -0.26048848] [-0.05702948 -0.00159216 0.99837122 -0.2532767 ] [ 0. 0. 0. 1. ]] SLAMing on 4.076296757000001 meters 0.07746525022737002 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.26, Z:-0.26 [[ 9.98352053e-01 -9.83750670e-03 5.65367266e-02 1.60155583e+00] [ 9.73726876e-03 9.99950494e-01 2.04818062e-03 -2.60065949e-01] [-5.65540767e-02 -1.49429202e-03 9.98398419e-01 -2.59170705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.106296757 meters 0.07588386804058983 Centerline is valid? [True, True] Translation: X:1.64, Y:-0.26, Z:-0.26 [[ 9.98371343e-01 -1.06282911e-02 5.60508790e-02 1.63507696e+00] [ 1.05314362e-02 9.99942496e-01 2.02308849e-03 -2.62379991e-01] [-5.60691579e-02 -1.42949732e-03 9.98425864e-01 -2.56142887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.136296757 meters 0.07590806689668216 Centerline is valid? [True, True] Translation: X:1.67, Y:-0.26, Z:-0.26 [[ 9.98313210e-01 -1.25597620e-02 5.66832163e-02 1.66555515e+00] [ 1.24654348e-02 9.99920268e-01 2.01739465e-03 -2.61701721e-01] [-5.67040349e-02 -1.30741080e-03 9.98390176e-01 -2.60997093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.1662967570000005 meters 0.07583320770473126 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.26, Z:-0.26 [[ 9.98164009e-01 -1.25777479e-02 5.92487247e-02 1.69481777e+00] [ 1.24747343e-02 9.99919965e-01 2.10823723e-03 -2.60795624e-01] [-5.92704996e-02 -1.36525442e-03 9.98241025e-01 -2.64301149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.196296757 meters 0.07585359053582928 Centerline is valid? [True, True] Translation: X:1.73, Y:-0.26, Z:-0.27 [[ 9.98087160e-01 -1.05890561e-02 6.09088862e-02 1.72720305e+00] [ 1.04766621e-02 9.99942776e-01 2.16435212e-03 -2.57220949e-01] [-6.09283192e-02 -1.52209024e-03 9.98140984e-01 -2.67424330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.226296757 meters 0.07645983760826915 Centerline is valid? [True, True] Translation: X:1.76, Y:-0.25, Z:-0.27 [[ 9.98198465e-01 -8.95658600e-03 5.93262534e-02 1.75822914e+00] [ 8.84751372e-03 9.99958653e-01 2.10094263e-03 -2.54357163e-01] [-5.93426177e-02 -1.57226786e-03 9.98236436e-01 -2.72955569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.256296757 meters 0.0767081124012041 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.25, Z:-0.28 [[ 9.98244071e-01 -7.54999561e-03 5.87517904e-02 1.79003597e+00] [ 7.44059774e-03 9.99970154e-01 2.08057828e-03 -2.51903481e-01] [-5.87657453e-02 -1.63977649e-03 9.98270453e-01 -2.77845294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.286296757000001 meters 0.07737794798859765 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.25, Z:-0.28 [[ 9.98280558e-01 -6.24767956e-03 5.82828813e-02 1.82161066e+00] [ 6.13749962e-03 9.99979024e-01 2.06925193e-03 -2.48320732e-01] [-5.82945868e-02 -1.70798281e-03 9.98297964e-01 -2.84199699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.316296757 meters 0.0783782006766586 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.24, Z:-0.29 [[ 9.98508733e-01 -4.28047150e-03 5.44241474e-02 1.85068017e+00] [ 4.18279686e-03 9.99989431e-01 1.90847399e-03 -2.41382425e-01] [-5.44317413e-02 -1.67798280e-03 9.98516084e-01 -2.91426035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.346296757 meters 0.07924695401416251 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.24, Z:-0.30 [[ 9.98610037e-01 -3.08127300e-03 5.26165262e-02 1.88121144e+00] [ 2.98826092e-03 9.99993831e-01 1.84631427e-03 -2.37501113e-01] [-5.26218906e-02 -1.68651606e-03 9.98613084e-01 -2.97470622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.376296757 meters 0.0799123377165354 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.24, Z:-0.30 [[ 9.98779954e-01 -2.47100765e-03 4.93203582e-02 1.91109965e+00] [ 2.38861984e-03 9.99995652e-01 1.72933232e-03 -2.36387631e-01] [-4.93244170e-02 -1.60941487e-03 9.98781513e-01 -3.03296595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.406296757000001 meters 0.08021655058670538 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.24, Z:-0.31 [[ 9.98843898e-01 -1.93407426e-03 4.80325551e-02 1.94219039e+00] [ 1.85469927e-03 9.99996840e-01 1.69703858e-03 -2.35996301e-01] [-4.80356855e-02 -1.60599069e-03 9.98844329e-01 -3.08173681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.436296757 meters 0.08039823589929693 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.24, Z:-0.31 [[ 9.98874369e-01 -1.94550083e-03 4.73942050e-02 1.97330341e+00] [ 1.86867905e-03 9.99996868e-01 1.66516402e-03 -2.35023858e-01] [-4.73972961e-02 -1.57472510e-03 9.98874875e-01 -3.12850307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.466296757 meters 0.08075664089749482 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.23, Z:-0.32 [[ 9.98916060e-01 -1.79960186e-03 4.65130879e-02 2.00433892e+00] [ 1.72586930e-03 9.99997190e-01 1.62531122e-03 -2.32834504e-01] [-4.65158821e-02 -1.54327397e-03 9.98916358e-01 -3.17758405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4962967570000005 meters 0.08070631110093794 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.23, Z:-0.32 [[ 9.98904865e-01 -2.27007536e-03 4.67324066e-02 2.03610345e+00] [ 2.19654830e-03 9.99996268e-01 1.62465638e-03 -2.31130717e-01] [-4.67359203e-02 -1.52022717e-03 9.98906123e-01 -3.22398482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.526296757 meters 0.08073440284343837 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.23, Z:-0.33 [[ 9.98953460e-01 -5.32380406e-03 4.54273203e-02 2.06717483e+00] [ 5.25794055e-03 9.99984946e-01 1.56923203e-03 -2.28029112e-01] [-4.54349907e-02 -1.32873561e-03 9.98966414e-01 -3.28042542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.556296757 meters 0.08046954543935178 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.23, Z:-0.33 [[ 9.98942842e-01 -7.30912836e-03 4.53847390e-02 2.09875647e+00] [ 7.24579370e-03 9.99972532e-01 1.55985999e-03 -2.27860190e-01] [-4.53948936e-02 -1.22936251e-03 9.98968364e-01 -3.32918292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.586296757 meters 0.08046954543935178 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.23, Z:-0.34 [[ 9.98944536e-01 -7.07221753e-03 4.53849901e-02 2.13113758e+00] [ 7.00897298e-03 9.99974232e-01 1.55249628e-03 -2.26894566e-01] [-4.53948002e-02 -1.23275551e-03 9.98968364e-01 -3.36690119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.616296757000001 meters 0.08065144625280034 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.23, Z:-0.34 [[ 9.98972933e-01 -9.63912228e-03 4.42737748e-02 2.16350743e+00] [ 9.58189875e-03 9.99952961e-01 1.50453320e-03 -2.29255558e-01] [-4.42861946e-02 -1.07876112e-03 9.99018303e-01 -3.42366637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.646296757 meters 0.0799778125732458 Centerline is valid? [True, True] Translation: X:2.19, Y:-0.24, Z:-0.35 [[ 9.98895979e-01 -1.56106928e-02 4.43072153e-02 2.19429756e+00] [ 1.55603672e-02 9.99877834e-01 1.48051487e-03 -2.39625505e-01] [-4.43249144e-02 -7.89443806e-04 9.99016856e-01 -3.47230991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.676296757 meters 0.07971434021913469 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.24, Z:-0.35 [[ 9.98842311e-01 -1.87573666e-02 4.42967103e-02 2.22563022e+00] [ 1.87097135e-02 9.99823848e-01 1.49015386e-03 -2.44215009e-01] [-4.43168587e-02 -6.59649967e-04 9.99017308e-01 -3.51559102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7062967570000005 meters 0.07968725676664164 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.25, Z:-0.36 [[ 9.98812181e-01 -2.14659892e-02 4.37428630e-02 2.25837137e+00] [ 2.14223347e-02 9.99769440e-01 1.46655148e-03 -2.47498617e-01] [-4.37642586e-02 -5.27735231e-04 9.99041746e-01 -3.57341331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.736296757 meters 0.07907933597697796 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.25, Z:-0.36 [[ 9.98663036e-01 -2.53946554e-02 4.50250072e-02 2.28987915e+00] [ 2.53534913e-02 9.99677445e-01 1.48516577e-03 -2.50543261e-01] [-4.50481994e-02 -3.41639029e-04 9.98984756e-01 -3.61355787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.766296757 meters 0.07915594500594246 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.25, Z:-0.36 [[ 9.98585193e-01 -2.67716808e-02 4.59444226e-02 2.31974291e+00] [ 2.67304593e-02 9.99641535e-01 1.51146275e-03 -2.50546321e-01] [-4.59684176e-02 -2.81208803e-04 9.98942854e-01 -3.64888805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.796296757 meters 0.07869948531729463 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.25, Z:-0.37 [[ 9.98486631e-01 -2.78810315e-02 4.74035360e-02 2.35133249e+00] [ 2.78383407e-02 9.99611220e-01 1.56066230e-03 -2.51621708e-01] [-4.74286193e-02 -2.38664661e-04 9.98874601e-01 -3.67416452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.826296757000001 meters 0.07887767960040404 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.25, Z:-0.37 [[ 9.98498110e-01 -2.75291767e-02 4.73673819e-02 2.38249364e+00] [ 2.74857062e-02 9.99620965e-01 1.56893761e-03 -2.50213665e-01] [-4.73926195e-02 -2.64655299e-04 9.98876303e-01 -3.72564573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.856296757 meters 0.07892195574748644 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.25, Z:-0.38 [[ 9.98515093e-01 -2.79089081e-02 4.67835736e-02 2.41461346e+00] [ 2.78674177e-02 9.99610443e-01 1.53897675e-03 -2.48211760e-01] [-4.68082999e-02 -2.32954119e-04 9.98903864e-01 -3.76389486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.886296757 meters 0.07897717263798124 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.24, Z:-0.38 [[ 9.98661391e-01 -2.63207209e-02 4.45269191e-02 2.44494887e+00] [ 2.62824779e-02 9.99653513e-01 1.44418578e-03 -2.42816912e-01] [-4.45495031e-02 -2.71974813e-04 9.99007141e-01 -3.78868796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9162967570000005 meters 0.07944644908089227 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.24, Z:-0.38 [[ 9.98787508e-01 -2.51193221e-02 4.23383280e-02 2.47576423e+00] [ 2.50836476e-02 9.99684412e-01 1.37371655e-03 -2.40255460e-01] [-4.23594734e-02 -3.10051231e-04 9.99102387e-01 -3.83126574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.946296757000001 meters 0.08009655840885306 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.24, Z:-0.39 [[ 9.98898766e-01 -2.27699324e-02 4.10217730e-02 2.50535345e+00] [ 2.27343912e-02 9.99740652e-01 1.33274949e-03 -2.38406757e-01] [-4.10414807e-02 -3.98676784e-04 9.99157364e-01 -3.88609779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.976296757 meters 0.07954959692353633 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.24, Z:-0.39 [[ 9.98803687e-01 -2.23865676e-02 4.34745579e-02 2.53631810e+00] [ 2.23465907e-02 9.99749296e-01 1.40537583e-03 -2.37747684e-01] [-4.34951202e-02 -4.32186415e-04 9.99053546e-01 -3.90339842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.006296757 meters 0.07935992973243775 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.24, Z:-0.39 [[ 9.98738684e-01 -2.25055368e-02 4.48836455e-02 2.56806081e+00] [ 2.24629872e-02 9.99746621e-01 1.45220048e-03 -2.37647634e-01] [-4.49049554e-02 -4.42148043e-04 9.98991166e-01 -3.93476790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.036296757000001 meters 0.07851232797276206 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.24, Z:-0.39 [[ 9.98707223e-01 -2.38687950e-02 4.48794380e-02 2.60005417e+00] [ 2.38272299e-02 9.99715024e-01 1.46094388e-03 -2.40152324e-01] [-4.49015194e-02 -3.89702520e-04 9.98991342e-01 -3.94340800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.066296757 meters 0.07857000680804123 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.24, Z:-0.40 [[ 9.98738856e-01 -2.56752906e-02 4.31448381e-02 2.63094737e+00] [ 2.56394492e-02 9.99670297e-01 1.38397083e-03 -2.40721557e-01] [-4.31661470e-02 -2.76015562e-04 9.99067869e-01 -3.98406418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.096296757 meters 0.07663742245139268 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.25, Z:-0.39 [[ 9.98683722e-01 -2.72505539e-02 4.34537862e-02 2.66454940e+00] [ 2.72151135e-02 9.99628610e-01 1.40706970e-03 -2.45190575e-01] [-4.34759913e-02 -2.22617882e-04 9.99054447e-01 -3.93061462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.126296757 meters 0.0778426790944875 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.25, Z:-0.40 [[ 9.98726447e-01 -2.76657145e-02 4.21911296e-02 2.69429255e+00] [ 2.76335589e-02 9.99617215e-01 1.34526897e-03 -2.46662420e-01] [-4.22121973e-02 -1.77664637e-04 9.99108652e-01 -4.01984308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.156296757000001 meters 0.07355395985383897 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.25, Z:-0.38 [[ 9.98700122e-01 -2.76808907e-02 4.27999292e-02 2.72904849e+00] [ 2.76472282e-02 9.99616792e-01 1.37834321e-03 -2.50457526e-01] [-4.28216817e-02 -1.93252128e-04 9.99082712e-01 -3.79983487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.186296757 meters 0.0733503611005045 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.25, Z:-0.38 [[ 9.98686653e-01 -2.79805356e-02 4.29192175e-02 2.76119880e+00] [ 2.79473969e-02 9.99608454e-01 1.37205658e-03 -2.54172528e-01] [-4.29408035e-02 -1.70774180e-04 9.99077604e-01 -3.83307786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.216296757 meters 0.07702390880302105 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.26, Z:-0.41 [[ 9.98633793e-01 -2.69482211e-02 4.47698697e-02 2.78961446e+00] [ 2.69122932e-02 9.99636811e-01 1.40514933e-03 -2.62643734e-01] [-4.47914761e-02 -1.98369746e-04 9.98996338e-01 -4.09345387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2462967570000005 meters 0.07210720230632345 Centerline is valid? [True, True] Translation: X:2.83, Y:-0.27, Z:-0.38 [[ 9.98679774e-01 -2.61153630e-02 4.42345653e-02 2.82525316e+00] [ 2.60788530e-02 9.99658905e-01 1.40234484e-03 -2.66918569e-01] [-4.42560998e-02 -2.46906697e-04 9.99020188e-01 -3.80897538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.276296757 meters 0.07376630716974007 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.27, Z:-0.40 [[ 9.98846528e-01 -2.22815753e-02 4.25340434e-02 2.85397732e+00] [ 2.22454756e-02 9.99751665e-01 1.32190431e-03 -2.68295900e-01] [-4.25529349e-02 -3.74189501e-04 9.99094144e-01 -3.96359845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.306296757 meters 0.0738178722323877 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.27, Z:-0.40 [[ 9.98837192e-01 -2.04601185e-02 4.36537155e-02 2.88583202e+00] [ 2.04197193e-02 9.99790555e-01 1.37120457e-03 -2.68363631e-01] [-4.36726275e-02 -4.78213504e-04 9.99045781e-01 -4.00122440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.336296757 meters 0.07279929823133158 Centerline is valid? [True, True] Translation: X:2.92, Y:-0.27, Z:-0.40 [[ 9.98699781e-01 -1.79281437e-02 4.77213750e-02 2.91760540e+00] [ 1.78783385e-02 9.99839089e-01 1.47032914e-03 -2.74358983e-01] [-4.77400564e-02 -6.15238493e-04 9.98859604e-01 -3.96482146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.366296757000001 meters 0.07368149512108002 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.28, Z:-0.41 [[ 9.98708336e-01 -1.80101065e-02 4.75110107e-02 2.94817874e+00] [ 1.79600413e-02 9.99837609e-01 1.48047618e-03 -2.75958713e-01] [-4.75299588e-02 -6.25264187e-04 9.98869617e-01 -4.07242082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.396296757 meters 0.07211703449718354 Centerline is valid? [True, True] Translation: X:2.98, Y:-0.28, Z:-0.40 [[ 9.98665560e-01 -1.87225066e-02 4.81307252e-02 2.98198033e+00] [ 1.86726104e-02 9.99824547e-01 1.48613388e-03 -2.80369863e-01] [-4.81501047e-02 -5.85424445e-04 9.98839939e-01 -3.99172246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.426296757 meters 0.0736581831341805 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.28, Z:-0.41 [[ 9.98511266e-01 -2.13833638e-02 5.01797045e-02 3.00972765e+00] [ 2.13340358e-02 9.99771250e-01 1.51848899e-03 -2.84135168e-01] [-5.02006963e-02 -4.45692754e-04 9.98739051e-01 -4.14979497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.4562967570000005 meters 0.07218617475137715 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.29, Z:-0.41 [[ 9.98500615e-01 -2.21961583e-02 5.00385176e-02 3.04432153e+00] [ 2.21471080e-02 9.99753545e-01 1.53455790e-03 -2.87249304e-01] [-5.00602467e-02 -4.24048552e-04 9.98746110e-01 -4.07292553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.486296757000001 meters 0.07150412483103875 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.29, Z:-0.40 [[ 9.98546303e-01 -2.08974393e-02 4.96847800e-02 3.07677334e+00] [ 2.08482453e-02 9.99781514e-01 1.50821273e-03 -2.87672342e-01] [-4.97054423e-02 -4.70179762e-04 9.98763810e-01 -4.04530887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.516296757 meters 0.07161378108857169 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.29, Z:-0.41 [[ 9.98353106e-01 -2.02298038e-02 5.36826864e-02 3.10636223e+00] [ 2.01731256e-02 9.99795226e-01 1.59750938e-03 -2.85048216e-01] [-5.37040109e-02 -5.11930871e-04 9.98556767e-01 -4.10950976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.546296757 meters 0.07118130913740076 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.28, Z:-0.41 [[ 9.98292897e-01 -1.97251309e-02 5.49746461e-02 3.13887690e+00] [ 1.96640403e-02 9.99805279e-01 1.65200243e-03 -2.83753924e-01] [-5.49965273e-02 -5.68158636e-04 9.98486384e-01 -4.11471292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.576296757000001 meters 0.07118779692103555 Centerline is valid? [True, True] Translation: X:3.17, Y:-0.28, Z:-0.42 [[ 9.98259926e-01 -1.94441097e-02 5.56690798e-02 3.17093387e+00] [ 1.93818257e-02 9.99810779e-01 1.65856017e-03 -2.81906913e-01] [-5.56907953e-02 -5.76705752e-04 9.98447897e-01 -4.15239681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.606296757 meters 0.07143184487545563 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.28, Z:-0.42 [[ 9.98359802e-01 -2.08173624e-02 5.33323800e-02 3.20217169e+00] [ 2.07635165e-02 9.99783192e-01 1.56356742e-03 -2.79636911e-01] [-5.33533665e-02 -4.53635107e-04 9.98575592e-01 -4.19926981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.636296757 meters 0.07176286905736463 Centerline is valid? [True, True] Translation: X:3.23, Y:-0.28, Z:-0.42 [[ 9.98397665e-01 -2.14167022e-02 5.23777324e-02 3.23332326e+00] [ 2.13650431e-02 9.99770546e-01 1.54605637e-03 -2.79621709e-01] [-5.23988255e-02 -4.24526559e-04 9.98626148e-01 -4.24564988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6662967570000005 meters 0.07216837998688008 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.28, Z:-0.43 [[ 9.98508553e-01 -2.23268476e-02 4.98214872e-02 3.26411520e+00] [ 2.22824493e-02 9.99750669e-01 1.44645549e-03 -2.81705784e-01] [-4.98413599e-02 -3.34153420e-04 9.98757091e-01 -4.28263166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.696296757000001 meters 0.07215245260907782 Centerline is valid? [True, True] Translation: X:3.30, Y:-0.28, Z:-0.43 [[ 9.98556218e-01 -2.04112285e-02 4.96876433e-02 3.29570200e+00] [ 2.03639802e-02 9.99791571e-01 1.45700527e-03 -2.80985624e-01] [-4.97070262e-02 -4.43063487e-04 9.98763743e-01 -4.31877666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.726296757 meters 0.0732447486600761 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.28, Z:-0.44 [[ 9.98692996e-01 -1.72738586e-02 4.81031592e-02 3.32454728e+00] [ 1.72272913e-02 9.99850643e-01 1.38251732e-03 -2.77693928e-01] [-4.81198561e-02 -5.52023230e-04 9.98841416e-01 -4.42697998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.756296757 meters 0.07329742863184745 Centerline is valid? [True, True] Translation: X:3.36, Y:-0.27, Z:-0.44 [[ 9.98862665e-01 -1.02535091e-02 4.65643925e-02 3.35581673e+00] [ 1.02021422e-02 9.99947058e-01 1.34066749e-03 -2.71157878e-01] [-4.65756738e-02 -8.64086146e-04 9.98914391e-01 -4.44624850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.786296757000001 meters 0.07323482283088827 Centerline is valid? [True, True] Translation: X:3.39, Y:-0.27, Z:-0.45 [[ 9.98958030e-01 -6.99484975e-03 4.50990812e-02 3.38692985e+00] [ 6.94346798e-03 9.99975054e-01 1.29586160e-03 -2.67131250e-01] [-4.51070205e-02 -9.81367324e-04 9.98981678e-01 -4.46003031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.816296757 meters 0.07416021183994272 Centerline is valid? [True, True] Translation: X:3.42, Y:-0.26, Z:-0.45 [[ 9.99063177e-01 -2.07478238e-03 4.32257276e-02 3.41598739e+00] [ 2.02310553e-03 9.99997186e-01 1.23922261e-03 -2.59933813e-01] [-4.32281771e-02 -1.15061147e-03 9.99064563e-01 -4.51628470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.846296757 meters 0.07424302252647702 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.26, Z:-0.45 [[ 9.99018566e-01 -1.77416740e-04 4.42930386e-02 3.44794564e+00] [ 1.20462702e-04 9.99999163e-01 1.28851210e-03 -2.58484309e-01] [-4.42932302e-02 -1.28191185e-03 9.99017751e-01 -4.54910605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.876296757 meters 0.07427514118538557 Centerline is valid? [True, True] Translation: X:3.48, Y:-0.26, Z:-0.46 [[ 9.98968399e-01 3.63838169e-04 4.54093059e-02 3.47955257e+00] [-4.23721003e-04 9.99999053e-01 1.30911640e-03 -2.58180665e-01] [-4.54087866e-02 -1.32700679e-03 9.98967608e-01 -4.58807882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.906296757000001 meters 0.07413886570127366 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.26, Z:-0.46 [[ 9.98851029e-01 3.09013168e-03 4.78233533e-02 3.51123537e+00] [-3.15843969e-03 9.99994097e-01 1.35283908e-03 -2.56320001e-01] [-4.78188905e-02 -1.50233189e-03 9.98854893e-01 -4.60307626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.936296757 meters 0.07390588096861651 Centerline is valid? [True, True] Translation: X:3.54, Y:-0.25, Z:-0.46 [[ 9.98786446e-01 4.96425897e-03 4.89999159e-02 3.54400031e+00] [-5.03820649e-03 9.99986348e-01 1.38574029e-03 -2.54278516e-01] [-4.89923678e-02 -1.63093031e-03 9.98797821e-01 -4.61333293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.966296757 meters 0.07341548232972415 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.25, Z:-0.46 [[ 9.98619312e-01 7.91265931e-03 5.19312927e-02 3.57541131e+00] [-7.99927789e-03 9.99966939e-01 1.46030775e-03 -2.54574161e-01] [-5.19180209e-02 -1.87370437e-03 9.98649592e-01 -4.60598028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9962967570000005 meters 0.0728243930908613 Centerline is valid? [True, True] Translation: X:3.61, Y:-0.25, Z:-0.46 [[ 9.98507325e-01 9.10091964e-03 5.38543961e-02 3.60769348e+00] [-9.19640371e-03 9.99956549e-01 1.52545154e-03 -2.54757046e-01] [-5.38381730e-02 -2.01844130e-03 9.98547634e-01 -4.61166906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.026296757000001 meters 0.07350546859732672 Centerline is valid? [True, True] Translation: X:3.64, Y:-0.25, Z:-0.47 [[ 9.98351556e-01 1.11733032e-02 5.62967852e-02 3.63827291e+00] [-1.12800230e-02 9.99935133e-01 1.57824461e-03 -2.49501514e-01] [-5.62754992e-02 -2.21067200e-03 9.98412831e-01 -4.65864971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.056296757 meters 0.07250501375409045 Centerline is valid? [True, True] Translation: X:3.67, Y:-0.25, Z:-0.46 [[ 9.98139475e-01 1.46527311e-02 5.91851832e-02 3.67115550e+00] [-1.47759812e-02 9.99889476e-01 1.64531808e-03 -2.46164304e-01] [-5.91545333e-02 -2.51677607e-03 9.98245665e-01 -4.62118014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.086296757 meters 0.07290338748576229 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.24, Z:-0.47 [[ 9.98148622e-01 1.57217812e-02 5.87550275e-02 3.70189422e+00] [-1.58441818e-02 9.99873164e-01 1.61792391e-03 -2.43399903e-01] [-5.87221386e-02 -2.54585386e-03 9.98271120e-01 -4.65690245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.116296757000001 meters 0.0729352579104002 Centerline is valid? [True, True] Translation: X:3.73, Y:-0.25, Z:-0.47 [[ 9.98332542e-01 1.48138473e-02 5.57914552e-02 3.73336825e+00] [-1.49214949e-02 9.99887523e-01 1.51336455e-03 -2.45316352e-01] [-5.57627612e-02 -2.34333299e-03 9.98441297e-01 -4.69300312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.146296757 meters 0.07272279896269616 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.25, Z:-0.47 [[ 9.98499897e-01 1.41331513e-02 5.28981041e-02 3.76450634e+00] [-1.42288090e-02 9.99897740e-01 1.43215495e-03 -2.47892274e-01] [-5.28724539e-02 -2.18268360e-03 9.98598888e-01 -4.71650529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.176296757 meters 0.07179494713990107 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.25, Z:-0.47 [[ 9.98593246e-01 1.17352178e-02 5.17089351e-02 3.79740615e+00] [-1.18241213e-02 9.99929093e-01 1.41371959e-03 -2.54468051e-01] [-5.16886782e-02 -2.02314355e-03 9.98661198e-01 -4.72623101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2062967570000005 meters 0.07142356155531311 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.25, Z:-0.47 [[ 9.98495010e-01 1.12491386e-02 5.36765438e-02 3.82884312e+00] [-1.13427736e-02 9.99934632e-01 1.44009893e-03 -2.54442246e-01] [-5.36568351e-02 -2.04677248e-03 9.98557337e-01 -4.74896868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.236296757000001 meters 0.07144154413834337 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.25, Z:-0.48 [[ 9.98435072e-01 1.07691620e-02 5.48765093e-02 3.85939231e+00] [-1.08662006e-02 9.99939880e-01 1.47023180e-03 -2.51673356e-01] [-5.48573770e-02 -2.06423015e-03 9.98492067e-01 -4.79411286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.266296757 meters 0.06997454647708247 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.25, Z:-0.47 [[ 9.98406329e-01 1.13850780e-02 5.52737106e-02 3.89222451e+00] [-1.14850923e-02 9.99932931e-01 1.49210932e-03 -2.52579455e-01] [-5.52530157e-02 -2.12455506e-03 9.98470125e-01 -4.74177342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.296296757 meters 0.06996433182835154 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.25, Z:-0.48 [[ 9.98491862e-01 1.18239945e-02 5.36115089e-02 3.92398067e+00] [-1.19179575e-02 9.99927951e-01 1.43329385e-03 -2.51960336e-01] [-5.35906990e-02 -2.07007193e-03 9.98560840e-01 -4.76953736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.326296757000001 meters 0.07153419800647945 Centerline is valid? [True, True] Translation: X:3.95, Y:-0.25, Z:-0.49 [[ 9.98619545e-01 1.13142792e-02 5.12931822e-02 3.95326382e+00] [-1.13983288e-02 9.99934131e-01 1.34637766e-03 -2.48688036e-01] [-5.12745702e-02 -1.92917561e-03 9.98682731e-01 -4.87114621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.356296757 meters 0.07055867306019924 Centerline is valid? [True, True] Translation: X:3.98, Y:-0.25, Z:-0.49 [[ 9.98892623e-01 8.65383189e-03 4.62454208e-02 3.98477264e+00] [-8.71928618e-03 9.99961250e-01 1.21383024e-03 -2.54933883e-01] [-4.62331245e-02 -1.61571313e-03 9.98929371e-01 -4.88095007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.386296757 meters 0.07044256770278803 Centerline is valid? [True, True] Translation: X:4.02, Y:-0.26, Z:-0.49 [[ 9.99035868e-01 6.96683030e-03 4.33451090e-02 4.01561189e+00] [-7.02267098e-03 9.99974695e-01 1.13614182e-03 -2.55127396e-01] [-4.33360969e-02 -1.43944487e-03 9.99059513e-01 -4.91714898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4162967570000005 meters 0.0706936520589402 Centerline is valid? [True, True] Translation: X:4.05, Y:-0.25, Z:-0.50 [[ 9.99073193e-01 4.64874513e-03 4.27918683e-02 4.04627596e+00] [-4.70167639e-03 9.99988301e-01 1.13638643e-03 -2.52271312e-01] [-4.27860849e-02 -1.33652673e-03 9.99083362e-01 -4.98182581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.446296757000001 meters 0.070435012578217 Centerline is valid? [True, True] Translation: X:4.08, Y:-0.25, Z:-0.50 [[ 9.99052255e-01 3.62528821e-03 4.33756793e-02 4.07881181e+00] [-3.67781299e-03 9.99992597e-01 1.13118669e-03 -2.51433265e-01] [-4.33712573e-02 -1.28964225e-03 9.99058192e-01 -5.00559777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.476296757 meters 0.07053017717888577 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.25, Z:-0.51 [[ 9.99061873e-01 3.17262402e-03 4.31892139e-02 4.11080663e+00] [-3.22465632e-03 9.99994157e-01 1.13513756e-03 -2.51557761e-01] [-4.31853601e-02 -1.27334303e-03 9.99066266e-01 -5.05187368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.506296757 meters 0.07053017717888577 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.25, Z:-0.51 [[ 9.99060938e-01 3.45119785e-03 4.31894773e-02 4.14317852e+00] [-3.50305000e-03 9.99993232e-01 1.12494827e-03 -2.50805629e-01] [-4.31853026e-02 -1.27518677e-03 9.99066266e-01 -5.08959852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.536296757000001 meters 0.06985726922829816 Centerline is valid? [True, True] Translation: X:4.18, Y:-0.25, Z:-0.51 [[ 9.99116863e-01 1.85448472e-03 4.19768350e-02 4.17601686e+00] [-1.90150700e-03 9.99997609e-01 1.08029634e-03 -2.53543501e-01] [-4.19747312e-02 -1.15916154e-03 9.99118000e-01 -5.09460600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.566296757000001 meters 0.06970341984736894 Centerline is valid? [True, True] Translation: X:4.21, Y:-0.25, Z:-0.51 [[ 9.99108006e-01 1.79200115e-03 4.21898218e-02 4.20837790e+00] [-1.83899339e-03 9.99997731e-01 1.07504433e-03 -2.52490993e-01] [-4.21877996e-02 -1.15167220e-03 9.99109035e-01 -5.13067447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.596296757 meters 0.06982326976587419 Centerline is valid? [True, True] Translation: X:4.24, Y:-0.25, Z:-0.52 [[ 9.99075912e-01 1.89254346e-03 4.29387943e-02 4.23966186e+00] [-1.94083034e-03 9.99997530e-01 1.08289165e-03 -2.50896828e-01] [-4.29366388e-02 -1.16522788e-03 9.99077118e-01 -5.17382166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.626296757 meters 0.06973488801096603 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.25, Z:-0.52 [[ 9.99162361e-01 1.89576527e-03 4.08776612e-02 4.27095904e+00] [-1.93853510e-03 9.99997614e-01 1.00667577e-03 -2.50536016e-01] [-4.08756552e-02 -1.08507532e-03 9.99163652e-01 -5.20153232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.656296757000001 meters 0.0704160304654637 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.25, Z:-0.53 [[ 9.99232754e-01 1.40855976e-03 3.91397395e-02 4.30000451e+00] [-1.44724212e-03 9.99998492e-01 9.59998402e-04 -2.48125161e-01] [-3.91383282e-02 -1.01590653e-03 9.99233286e-01 -5.28111376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.686296757 meters 0.06983266143577826 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.25, Z:-0.53 [[ 9.99369705e-01 -7.24603004e-04 3.54917898e-02 4.33159620e+00] [ 6.94065849e-04 9.99999378e-01 8.72713674e-04 -2.50967696e-01] [-3.54924001e-02 -8.47529968e-04 9.99369587e-01 -5.27128281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.716296757 meters 0.07009284193220612 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.25, Z:-0.53 [[ 9.99425918e-01 -2.06688010e-03 3.38166063e-02 4.36310918e+00] [ 2.03938852e-03 9.99997561e-01 8.47433221e-04 -2.53337258e-01] [-3.38182754e-02 -7.77981526e-04 9.99427696e-01 -5.31295851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7462967570000005 meters 0.07072356868495441 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.25, Z:-0.54 [[ 9.99488495e-01 -3.98300142e-03 3.17314390e-02 4.39259766e+00] [ 3.96042542e-03 9.99991858e-01 7.74290341e-04 -2.53027303e-01] [-3.17342647e-02 -6.48224290e-04 9.99496131e-01 -5.40013414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.776296757000001 meters 0.07108077195255275 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.25, Z:-0.55 [[ 9.99528615e-01 -3.69131274e-03 3.04782325e-02 4.42458444e+00] [ 3.67034247e-03 9.99992988e-01 7.43958484e-04 -2.50612703e-01] [-3.04807650e-02 -6.31742242e-04 9.99535154e-01 -5.45465742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.806296757 meters 0.07167177320131753 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.25, Z:-0.55 [[ 9.99525263e-01 -3.33855358e-03 3.06284685e-02 4.45486385e+00] [ 3.31687380e-03 9.99994211e-01 7.58611182e-04 -2.49176591e-01] [-3.06308239e-02 -6.56660276e-04 9.99530551e-01 -5.50997722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.836296757 meters 0.07177804942296569 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.25, Z:-0.55 [[ 9.99532806e-01 -3.13986936e-03 3.04024971e-02 4.48682799e+00] [ 3.11857902e-03 9.99994858e-01 7.47674546e-04 -2.53227191e-01] [-3.04046883e-02 -6.52512647e-04 9.99537458e-01 -5.54880776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.866296757000001 meters 0.07184159915301964 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.26, Z:-0.56 [[ 9.99518409e-01 -2.91476441e-03 3.08942333e-02 4.51884675e+00] [ 2.89291805e-03 9.99995533e-01 7.51808141e-04 -2.55858061e-01] [-3.08962867e-02 -6.62071592e-04 9.99522377e-01 -5.59506368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.896296757 meters 0.07021447438461748 Centerline is valid? [True, True] Translation: X:4.55, Y:-0.26, Z:-0.55 [[ 9.99455051e-01 -3.86493900e-03 3.27820646e-02 4.55093981e+00] [ 3.84176102e-03 9.99992324e-01 7.69990245e-04 -2.60702312e-01] [-3.27847889e-02 -6.43629782e-04 9.99462227e-01 -5.54339770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.926296757 meters 0.07009192929517263 Centerline is valid? [True, True] Translation: X:4.58, Y:-0.26, Z:-0.56 [[ 9.99344438e-01 -3.46559968e-03 3.60372468e-02 4.58142566e+00] [ 3.43739246e-03 9.99993735e-01 8.44651971e-04 -2.61329621e-01] [-3.60399482e-02 -7.20224090e-04 9.99350091e-01 -5.58374209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9562967570000005 meters 0.06978771597364547 Centerline is valid? [True, True] Translation: X:4.61, Y:-0.26, Z:-0.56 [[ 9.99211582e-01 -2.86895890e-03 3.95977631e-02 4.61197400e+00] [ 2.83444742e-03 9.99995553e-01 9.27664937e-04 -2.61318127e-01] [-3.96002484e-02 -8.14695772e-04 9.99215270e-01 -5.61295131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.986296757000001 meters 0.0697787704719275 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.26, Z:-0.57 [[ 9.99164819e-01 -1.71757680e-03 4.08254128e-02 4.64446465e+00] [ 1.67968151e-03 9.99998126e-01 9.62510943e-04 -2.60531310e-01] [-4.08269895e-02 -8.93133382e-04 9.99165832e-01 -5.65008829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.016296757 meters 0.07003583933194088 Centerline is valid? [True, True] Translation: X:4.68, Y:-0.26, Z:-0.57 [[ 9.99174768e-01 -6.77223185e-04 4.06118639e-02 4.67641914e+00] [ 6.38526317e-04 9.99999330e-01 9.65810061e-04 -2.59443026e-01] [-4.06124908e-02 -9.39081301e-04 9.99174531e-01 -5.68492217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.046296757 meters 0.0706462189418148 Centerline is valid? [True, True] Translation: X:4.71, Y:-0.26, Z:-0.58 [[ 9.99225993e-01 -6.25600428e-04 3.93322227e-02 4.70663851e+00] [ 5.90246432e-04 9.99999411e-01 9.10461725e-04 -2.60620375e-01] [-3.93327692e-02 -8.86541317e-04 9.99225774e-01 -5.75100843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.076296757000001 meters 0.070903464295466 Centerline is valid? [True, True] Translation: X:4.74, Y:-0.26, Z:-0.58 [[ 9.99281280e-01 -4.92765975e-04 3.79035598e-02 4.73764510e+00] [ 4.59328808e-04 9.99999498e-01 8.90867449e-04 -2.61322570e-01] [-3.79039798e-02 -8.72816968e-04 9.99281005e-01 -5.80363901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.106296757000001 meters 0.07092091092018743 Centerline is valid? [True, True] Translation: X:4.77, Y:-0.26, Z:-0.58 [[ 9.99289995e-01 -2.53980521e-04 3.76754644e-02 4.76952045e+00] [ 2.21036830e-04 9.99999590e-01 8.78569778e-04 -2.62914923e-01] [-3.76756721e-02 -8.69618324e-04 9.99289641e-01 -5.83586558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.136296757 meters 0.07041484964860736 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.26, Z:-0.59 [[ 9.99108574e-01 1.57214550e-03 4.21851455e-02 4.79849885e+00] [-1.61370604e-03 9.99998246e-01 9.51159372e-04 -2.60974012e-01] [-4.21835762e-02 -1.01838591e-03 9.99109358e-01 -5.85847209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1662967570000005 meters 0.07032486136212443 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.26, Z:-0.59 [[ 9.99033264e-01 2.67223206e-03 4.38793507e-02 4.83015840e+00] [-2.71858210e-03 9.99995808e-01 9.96666889e-04 -2.58535213e-01] [-4.38765034e-02 -1.11499299e-03 9.99036340e-01 -5.88483813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.196296757000001 meters 0.07006786892805833 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.26, Z:-0.59 [[ 9.98931967e-01 3.62714009e-03 4.60626649e-02 4.86173637e+00] [-3.67899136e-03 9.99992691e-01 1.04094070e-03 -2.57603855e-01] [-4.60585526e-02 -1.20929309e-03 9.98938010e-01 -5.90776588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.226296757 meters 0.06953764915480243 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.26, Z:-0.59 [[ 9.98770802e-01 8.84071129e-03 4.87721910e-02 4.89475758e+00] [-8.90503546e-03 9.99959742e-01 1.10173496e-03 -2.60098491e-01] [-4.87604875e-02 -1.53469880e-03 9.98809321e-01 -5.89816454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.256296757 meters 0.06986636049105932 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.26, Z:-0.59 [[ 9.98529318e-01 1.35626841e-02 5.24905280e-02 4.92454154e+00] [-1.36434848e-02 9.99906226e-01 1.18130546e-03 -2.60603394e-01] [-5.24695841e-02 -1.89572186e-03 9.98620723e-01 -5.93806187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.286296757000001 meters 0.06990028558382208 Centerline is valid? [True, True] Translation: X:4.96, Y:-0.26, Z:-0.60 [[ 9.98451569e-01 1.56698586e-02 5.33752721e-02 4.95654150e+00] [-1.57565820e-02 9.99875132e-01 1.20434255e-03 -2.59546699e-01] [-5.33497354e-02 -2.04348957e-03 9.98573798e-01 -5.97357029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.316296757000001 meters 0.07017727073554768 Centerline is valid? [True, True] Translation: X:4.99, Y:-0.26, Z:-0.60 [[ 9.98386586e-01 1.78870007e-02 5.38913669e-02 4.98821469e+00] [-1.79779130e-02 9.99837661e-01 1.20260915e-03 -2.58163153e-01] [-5.38611072e-02 -2.16952314e-03 9.98546080e-01 -6.01995203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.346296757 meters 0.07088917347270467 Centerline is valid? [True, True] Translation: X:5.02, Y:-0.26, Z:-0.61 [[ 9.98402266e-01 1.94240967e-02 5.30624111e-02 5.01766156e+00] [-1.95129188e-02 9.99808936e-01 1.15631595e-03 -2.57466481e-01] [-5.30298124e-02 -2.18987098e-03 9.98590528e-01 -6.07528714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.376296757 meters 0.0699888303550805 Centerline is valid? [True, True] Translation: X:5.05, Y:-0.27, Z:-0.61 [[ 9.98455831e-01 2.23229879e-02 5.08688193e-02 5.04889175e+00] [-2.24083850e-02 9.99748286e-01 1.10900696e-03 -2.65263418e-01] [-5.08312585e-02 -2.24718255e-03 9.98704728e-01 -6.05876897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.406296757000001 meters 0.07138111604311898 Centerline is valid? [True, True] Translation: X:5.08, Y:-0.26, Z:-0.61 [[ 9.98370578e-01 2.48845272e-02 5.13512397e-02 5.07903138e+00] [-2.49756647e-02 9.99687417e-01 1.13376219e-03 -2.64189906e-01] [-5.13069750e-02 -2.41444615e-03 9.98680011e-01 -6.14629662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.436296757 meters 0.07264741664650529 Centerline is valid? [True, True] Translation: X:5.11, Y:-0.26, Z:-0.62 [[ 9.98348620e-01 2.63450368e-02 5.10487304e-02 5.10955907e+00] [-2.64363704e-02 9.99649877e-01 1.11464235e-03 -2.61331708e-01] [-5.10014918e-02 -2.46234479e-03 9.98695542e-01 -6.22213285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.466296757 meters 0.07098379671761755 Centerline is valid? [True, True] Translation: X:5.14, Y:-0.27, Z:-0.62 [[ 9.98236214e-01 2.74107651e-02 5.26603384e-02 5.14193796e+00] [-2.75088497e-02 9.99620912e-01 1.13854225e-03 -2.65742603e-01] [-5.26091671e-02 -2.58515944e-03 9.98611833e-01 -6.20082659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4962967570000005 meters 0.07207849562255195 Centerline is valid? [True, True] Translation: X:5.17, Y:-0.26, Z:-0.63 [[ 9.98141819e-01 2.78897394e-02 5.41762927e-02 5.17214485e+00] [-2.79934132e-02 9.99607440e-01 1.15558659e-03 -2.62583637e-01] [-5.41227962e-02 -2.67001865e-03 9.98530718e-01 -6.27640735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.526296757000001 meters 0.07238322125047604 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.26, Z:-0.63 [[ 9.98028711e-01 2.87455151e-02 5.57887679e-02 5.20414973e+00] [-2.88560647e-02 9.99582884e-01 1.17687013e-03 -2.60775915e-01] [-5.57316678e-02 -2.78439448e-03 9.98441900e-01 -6.31814364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.556296757 meters 0.07098263072079118 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.27, Z:-0.63 [[ 9.97848472e-01 2.57983873e-02 6.02733028e-02 5.23550350e+00] [-2.59203166e-02 9.99663241e-01 1.24182520e-03 -2.65246620e-01] [-6.02209681e-02 -2.80145647e-03 9.98181139e-01 -6.32557229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.586296757 meters 0.0705764352165516 Centerline is valid? [True, True] Translation: X:5.27, Y:-0.27, Z:-0.64 [[ 9.97867486e-01 2.37425112e-02 6.08010902e-02 5.26740359e+00] [-2.38628815e-02 9.99714454e-01 1.25428676e-03 -2.67016272e-01] [-6.07539488e-02 -2.70250119e-03 9.98149114e-01 -6.35620579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.616296757000001 meters 0.07054408545750014 Centerline is valid? [True, True] Translation: X:5.30, Y:-0.27, Z:-0.64 [[ 9.97849780e-01 2.12549125e-02 6.20003655e-02 5.29741428e+00] [-2.13749133e-02 9.99770720e-01 1.27278846e-03 -2.67193340e-01] [-6.19590971e-02 -2.59530412e-03 9.98075315e-01 -6.39820887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.646296757000001 meters 0.0699908041669325 Centerline is valid? [True, True] Translation: X:5.33, Y:-0.27, Z:-0.64 [[ 9.97888313e-01 1.87266195e-02 6.21950783e-02 5.32916413e+00] [-1.88426542e-02 9.99821643e-01 1.27960329e-03 -2.68167706e-01] [-6.21600227e-02 -2.44882152e-03 9.98063192e-01 -6.43042708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.676296757 meters 0.06975721353051137 Centerline is valid? [True, True] Translation: X:5.36, Y:-0.27, Z:-0.65 [[ 9.97862240e-01 1.55518406e-02 6.34751162e-02 5.35896579e+00] [-1.56659079e-02 9.99876437e-01 1.29970614e-03 -2.65022937e-01] [-6.34470602e-02 -2.29132300e-03 9.97982575e-01 -6.47476613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.7062967570000005 meters 0.06932934625840241 Centerline is valid? [True, True] Translation: X:5.39, Y:-0.26, Z:-0.65 [[ 9.97850115e-01 1.42876187e-02 6.39610157e-02 5.39141241e+00] [-1.44011444e-02 9.99895434e-01 1.31422033e-03 -2.64922742e-01] [-6.39355505e-02 -2.23250673e-03 9.97951533e-01 -6.49967290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.736296757000001 meters 0.0699883962879156 Centerline is valid? [True, True] Translation: X:5.42, Y:-0.26, Z:-0.66 [[ 9.97825042e-01 1.32306992e-02 6.45765696e-02 5.42143113e+00] [-1.33443000e-02 9.99910079e-01 1.32814857e-03 -2.58264669e-01] [-6.45531904e-02 -2.18698902e-03 9.97911871e-01 -6.57849328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.766296757 meters 0.06935816492646275 Centerline is valid? [True, True] Translation: X:5.45, Y:-0.26, Z:-0.66 [[ 9.97860121e-01 1.35353207e-02 6.39685451e-02 5.45375018e+00] [-1.36465596e-02 9.99906033e-01 1.30233971e-03 -2.57437504e-01] [-6.39449066e-02 -2.17250343e-03 9.97951066e-01 -6.58362133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.796296757 meters 0.06909085016839428 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.26, Z:-0.66 [[ 9.97808040e-01 1.34682031e-02 6.47898301e-02 5.48569933e+00] [-1.35811246e-02 9.99906924e-01 1.30276368e-03 -2.55646223e-01] [-6.47662538e-02 -2.17982683e-03 9.97898081e-01 -6.61657957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.826296757000001 meters 0.0696167863905753 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.25, Z:-0.67 [[ 9.97839387e-01 1.34183017e-02 6.43156799e-02 5.51726424e+00] [-1.35284359e-02 9.99907671e-01 1.27718977e-03 -2.53281509e-01] [-6.42926040e-02 -2.14452081e-03 9.97928786e-01 -6.68266979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.856296757000001 meters 0.0701971889734022 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.25, Z:-0.67 [[ 9.98033519e-01 1.35219142e-02 6.12066368e-02 5.54713319e+00] [-1.36202080e-02 9.99906534e-01 1.18898491e-03 -2.50562515e-01] [-6.11848387e-02 -2.02029392e-03 9.98124408e-01 -6.74443193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.886296757 meters 0.07120772007705527 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.24, Z:-0.68 [[ 9.98050177e-01 1.58640215e-02 6.03670221e-02 5.57692107e+00] [-1.59639585e-02 9.99871879e-01 1.17353025e-03 -2.42616979e-01] [-6.03406709e-02 -2.13493870e-03 9.98175558e-01 -6.81683285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9162967570000005 meters 0.07106956338614644 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.24, Z:-0.68 [[ 9.97989679e-01 1.65890044e-02 6.11670338e-02 5.60855960e+00] [-1.66934175e-02 9.99859939e-01 1.19635416e-03 -2.43067254e-01] [-6.11386204e-02 -2.21503594e-03 9.98126827e-01 -6.84541266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.946296757000001 meters 0.07159789896042654 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.24, Z:-0.69 [[ 9.97959251e-01 1.73961734e-02 6.14386417e-02 5.64019171e+00] [-1.75021593e-02 9.99846121e-01 1.18728812e-03 -2.43328843e-01] [-6.14085333e-02 -2.26017406e-03 9.98110156e-01 -6.90444560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.976296757000001 meters 0.07075074503400397 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.25, Z:-0.69 [[ 9.97854750e-01 1.90782844e-02 6.26252109e-02 5.67297106e+00] [-1.91906177e-02 9.99815132e-01 1.19267640e-03 -2.47588548e-01] [-6.25908792e-02 -2.39193429e-03 9.98036402e-01 -6.90041159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.006296757000001 meters 0.0710102927635659 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.24, Z:-0.69 [[ 9.97818807e-01 2.05072540e-02 6.27461556e-02 5.70488916e+00] [-2.06218374e-02 9.99786652e-01 1.17901034e-03 -2.44674780e-01] [-6.27085906e-02 -2.47037971e-03 9.98028822e-01 -6.94981289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.036296757 meters 0.0719171901616278 Centerline is valid? [True, True] Translation: X:5.74, Y:-0.24, Z:-0.70 [[ 9.97690168e-01 2.23502721e-02 6.41466560e-02 5.73501973e+00] [-2.24727047e-02 9.99746751e-01 1.18766334e-03 -2.39141759e-01] [-6.41038663e-02 -2.62646890e-03 9.97939776e-01 -7.00986359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.066296757000002 meters 0.07165970343433042 Centerline is valid? [True, True] Translation: X:5.77, Y:-0.24, Z:-0.70 [[ 9.97749349e-01 2.22920823e-02 6.32400084e-02 5.76681004e+00] [-2.24101059e-02 9.99748192e-01 1.15748857e-03 -2.40375822e-01] [-6.31982812e-02 -2.57209875e-03 9.97997676e-01 -7.03968557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.096296757000001 meters 0.07169083175362133 Centerline is valid? [True, True] Translation: X:5.80, Y:-0.24, Z:-0.71 [[ 9.97781857e-01 2.12508307e-02 6.30854067e-02 5.79871642e+00] [-2.13652241e-02 9.99771089e-01 1.13919866e-03 -2.44514334e-01] [-6.30467568e-02 -2.48450560e-03 9.98007482e-01 -7.08104327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.126296757000002 meters 0.07128688854952178 Centerline is valid? [True, True] Translation: X:5.83, Y:-0.25, Z:-0.71 [[ 9.97647334e-01 2.05745191e-02 6.53948518e-02 5.82993413e+00] [-2.06942111e-02 9.99785187e-01 1.15338100e-03 -2.46909383e-01] [-6.53570739e-02 -2.50396235e-03 9.97858799e-01 -7.10118965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.156296757000002 meters 0.07155029065551824 Centerline is valid? [True, True] Translation: X:5.86, Y:-0.25, Z:-0.72 [[ 9.97556880e-01 2.04862345e-02 6.67876144e-02 5.86117244e+00] [-2.06114143e-02 9.99786859e-01 1.18570085e-03 -2.46220642e-01] [-6.67490887e-02 -2.55939123e-03 9.97766510e-01 -7.15577156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.186296757000001 meters 0.07094916182900214 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.25, Z:-0.72 [[ 9.97289398e-01 2.00757251e-02 7.07871530e-02 5.89199753e+00] [-2.02133040e-02 9.99794937e-01 1.22770158e-03 -2.46334727e-01] [-7.07479902e-02 -2.65521601e-03 9.97490688e-01 -7.17527769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.216296757000002 meters 0.07007830053071602 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.25, Z:-0.72 [[ 9.97211714e-01 1.92066240e-02 7.21103467e-02 5.92336251e+00] [-1.93470639e-02 9.99812047e-01 1.24953859e-03 -2.48720255e-01] [-7.20727939e-02 -2.64117800e-03 9.97395878e-01 -7.18245152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.246296757000001 meters 0.070448758272237 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.25, Z:-0.72 [[ 9.97127374e-01 1.86907772e-02 7.34006426e-02 5.95471659e+00] [-1.88353658e-02 9.99821782e-01 1.27809183e-03 -2.47876648e-01] [-7.33636728e-02 -2.65694831e-03 9.97301716e-01 -7.22970597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.276296757 meters 0.07017083531199517 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.25, Z:-0.73 [[ 9.97054417e-01 1.85028591e-02 7.44320775e-02 5.98705960e+00] [-1.86496157e-02 9.99825265e-01 1.27708002e-03 -2.48898031e-01] [-7.43954420e-02 -2.66144792e-03 9.97225268e-01 -7.25853910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.306296757000002 meters 0.06998160873994268 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.25, Z:-0.73 [[ 9.97069258e-01 1.81017882e-02 7.43318269e-02 6.01945293e+00] [-1.82456998e-02 9.99832743e-01 1.25741401e-03 -2.49987962e-01] [-7.42966329e-02 -2.60996506e-03 9.97232770e-01 -7.29069938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.336296757000001 meters 0.06939464361689164 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.25, Z:-0.73 [[ 9.97211271e-01 1.52771982e-02 7.30498964e-02 6.05133874e+00] [-1.54073627e-02 9.99880557e-01 1.21865073e-03 -2.52658255e-01] [-7.30225536e-02 -2.34075850e-03 9.97327543e-01 -7.31466154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.366296757 meters 0.06927414334883479 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.25, Z:-0.74 [[ 9.97277076e-01 1.34626509e-02 7.25064820e-02 6.08356135e+00] [-1.35848119e-02 9.99907012e-01 1.19192816e-03 -2.52938292e-01] [-7.24836932e-02 -2.17366955e-03 9.97367229e-01 -7.36153722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.396296757000002 meters 0.06927414334883479 Centerline is valid? [True, True] Translation: X:6.12, Y:-0.25, Z:-0.74 [[ 9.97273231e-01 1.37431714e-02 7.25067451e-02 6.11587284e+00] [-1.38648888e-02 9.99903187e-01 1.17563631e-03 -2.52493015e-01] [-7.24835685e-02 -2.17772858e-03 9.97367229e-01 -7.39919550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.426296757000001 meters 0.06892134200452664 Centerline is valid? [True, True] Translation: X:6.15, Y:-0.26, Z:-0.74 [[ 9.97453075e-01 8.62731538e-03 7.08020652e-02 6.14787610e+00] [-8.72902586e-03 9.99961266e-01 1.12726206e-03 -2.56229423e-01] [-7.07895975e-02 -1.74242407e-03 9.97489748e-01 -7.44061363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.456296757000002 meters 0.06895251051197873 Centerline is valid? [True, True] Translation: X:6.18, Y:-0.26, Z:-0.75 [[ 9.97467928e-01 5.97090847e-03 7.08666446e-02 6.17865743e+00] [-6.06481304e-03 9.99980993e-01 1.10999356e-03 -2.57053418e-01] [-7.08586699e-02 -1.53697592e-03 9.97485181e-01 -7.48972526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.486296757000002 meters 0.0683976763559381 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.26, Z:-0.75 [[ 9.97439771e-01 2.73714780e-03 7.14591636e-02 6.21016954e+00] [-2.82257741e-03 9.99995417e-01 1.09455113e-03 -2.59122621e-01] [-7.14558402e-02 -1.29344785e-03 9.97442926e-01 -7.50075741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.516296757000001 meters 0.06817992535970753 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.26, Z:-0.75 [[ 9.97363710e-01 -2.06955863e-03 7.25351431e-02 6.24193252e+00] [ 1.99428808e-03 9.99997395e-01 1.11011960e-03 -2.58240100e-01] [-7.25372517e-02 -9.62537033e-04 9.97365239e-01 -7.53573507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.546296757000002 meters 0.06814476646231622 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.26, Z:-0.76 [[ 9.97309241e-01 -3.73688715e-03 7.32141681e-02 6.27364091e+00] [ 3.66455227e-03 9.99992656e-01 1.12229454e-03 -2.57105649e-01] [-7.32178243e-02 -8.50977570e-04 9.97315610e-01 -7.56437733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.576296757000001 meters 0.06868834171571081 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.26, Z:-0.77 [[ 9.97373119e-01 -5.60173506e-03 7.22182968e-02 6.30370701e+00] [ 5.53760453e-03 9.99984075e-01 1.08819996e-03 -2.55684491e-01] [-7.22232425e-02 -6.85425021e-04 9.97388256e-01 -7.65669607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.606296757 meters 0.06857307475188446 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.26, Z:-0.77 [[ 9.97427731e-01 -5.51630023e-03 7.14667139e-02 6.33534553e+00] [ 5.45448000e-03 9.99984562e-01 1.06015034e-03 -2.55942112e-01] [-7.14714588e-02 -6.67609589e-04 9.97442422e-01 -7.67911205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.636296757000002 meters 0.06854468751350272 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.26, Z:-0.77 [[ 9.97472851e-01 -5.05198830e-03 7.08688183e-02 6.36739338e+00] [ 4.99110499e-03 9.99987008e-01 1.03615308e-03 -2.55784191e-01] [-7.08731322e-02 -6.79820853e-04 9.97485106e-01 -7.71269236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.666296757000001 meters 0.06853807994671503 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.25, Z:-0.78 [[ 9.97445257e-01 -1.87063611e-03 7.14105084e-02 6.39830951e+00] [ 1.80228936e-03 9.99997854e-01 1.02151807e-03 -2.52376484e-01] [-7.14122661e-02 -8.90205953e-04 9.97446488e-01 -7.75523232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.696296757 meters 0.06804363481908365 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.25, Z:-0.78 [[ 9.97488487e-01 2.71757763e-04 7.08282730e-02 6.43074267e+00] [-3.44094550e-04 9.99999432e-01 1.00909906e-03 -2.49526637e-01] [-7.08279585e-02 -1.03093631e-03 9.97488014e-01 -7.75572037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.726296757000002 meters 0.06808759283760496 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.25, Z:-0.78 [[ 9.97536641e-01 2.49279580e-03 7.01030400e-02 6.46213498e+00] [-2.56750654e-03 9.99996228e-01 9.75641762e-04 -2.45263073e-01] [-7.01003435e-02 -1.15322842e-03 9.97539278e-01 -7.79777857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.756296757000001 meters 0.06807617854614494 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.24, Z:-0.78 [[ 9.97371474e-01 5.17191496e-03 7.22730509e-02 6.49436960e+00] [-5.25802556e-03 9.99985675e-01 1.00125607e-03 -2.40097924e-01] [-7.22668372e-02 -1.37863779e-03 9.97384381e-01 -7.82699622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.786296757000002 meters 0.0679337623607775 Centerline is valid? [True, True] Translation: X:6.53, Y:-0.24, Z:-0.79 [[ 9.97240852e-01 5.74485634e-03 7.40113421e-02 6.52568011e+00] [-5.83530859e-03 9.99982468e-01 1.00596054e-03 -2.39538253e-01] [-7.40042655e-02 -1.43506397e-03 9.97256892e-01 -7.86566559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.816296757000002 meters 0.06769224686325355 Centerline is valid? [True, True] Translation: X:6.56, Y:-0.24, Z:-0.79 [[ 9.97131319e-01 4.97592688e-03 7.55272927e-02 6.55724053e+00] [-5.06645791e-03 9.99986658e-01 1.00709773e-03 -2.39904158e-01] [-7.55212738e-02 -1.38686454e-03 9.97143226e-01 -7.89471795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.846296757000001 meters 0.06758265314262173 Centerline is valid? [True, True] Translation: X:6.59, Y:-0.24, Z:-0.79 [[ 9.97032600e-01 5.25933664e-03 7.68006078e-02 6.58951746e+00] [-5.35229290e-03 9.99985172e-01 1.00457344e-03 -2.39190703e-01] [-7.67941856e-02 -1.41265182e-03 9.97045966e-01 -7.92761165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.876296757000002 meters 0.06767864883031342 Centerline is valid? [True, True] Translation: X:6.62, Y:-0.24, Z:-0.80 [[ 9.97024286e-01 5.72809084e-03 7.68749730e-02 6.62219557e+00] [-5.82125898e-03 9.99982568e-01 9.87910427e-04 -2.38966494e-01] [-7.68679741e-02 -1.43247982e-03 9.97040251e-01 -7.96424460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.906296757000002 meters 0.06800241227062545 Centerline is valid? [True, True] Translation: X:6.65, Y:-0.24, Z:-0.80 [[ 9.97188243e-01 7.93721621e-03 7.45158220e-02 6.65145030e+00] [-8.02881495e-03 9.99967336e-01 9.29774659e-04 -2.35262920e-01] [-7.45060082e-02 -1.52543410e-03 9.97219398e-01 -8.02631742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.936296757000001 meters 0.06783634782059417 Centerline is valid? [True, True] Translation: X:6.68, Y:-0.23, Z:-0.81 [[ 9.97226170e-01 1.01716648e-02 7.37326492e-02 6.68388369e+00] [-1.02674699e-02 9.99946865e-01 9.20424617e-04 -2.33401236e-01] [-7.37193691e-02 -1.67491927e-03 9.97277619e-01 -8.05080359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.966296757000002 meters 0.06822173792464331 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.23, Z:-0.81 [[ 9.97241387e-01 1.32318809e-02 7.30378884e-02 6.71426163e+00] [-1.33321647e-02 9.99910731e-01 8.85659072e-04 -2.27684865e-01] [-7.30196494e-02 -1.85696904e-03 9.97328774e-01 -8.09735784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.996296757000001 meters 0.06820912058058562 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.23, Z:-0.81 [[ 9.97190000e-01 1.51038363e-02 7.33755980e-02 6.74608603e+00] [-1.52105707e-02 9.99883911e-01 8.96021072e-04 -2.26391851e-01] [-7.33535465e-02 -2.00958797e-03 9.97303975e-01 -8.12662322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.026296757 meters 0.06816485560126731 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.23, Z:-0.82 [[ 9.97066654e-01 1.73087352e-02 7.45553201e-02 6.77893471e+00] [-1.74237988e-02 9.99847795e-01 8.93137138e-04 -2.25309171e-01] [-7.45285133e-02 -2.18955416e-03 9.97216479e-01 -8.15955273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.056296757000002 meters 0.06793363747645621 Centerline is valid? [True, True] Translation: X:6.81, Y:-0.22, Z:-0.82 [[ 9.97101983e-01 1.91020258e-02 7.36393124e-02 6.81086470e+00] [-1.92169811e-02 9.99814973e-01 8.52785948e-04 -2.23038645e-01] [-7.36093972e-02 -2.26543984e-03 9.97284575e-01 -8.18056073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.086296757000001 meters 0.06812046814106361 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.22, Z:-0.82 [[ 9.97044889e-01 1.99977915e-02 7.41726152e-02 6.84249306e+00] [-2.01170990e-02 9.99797259e-01 8.61687888e-04 -2.19771754e-01] [-7.41403455e-02 -2.35127935e-03 9.97245045e-01 -8.23142971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.116296757 meters 0.0685754369310873 Centerline is valid? [True, True] Translation: X:6.87, Y:-0.21, Z:-0.83 [[ 9.97215625e-01 2.09914488e-02 7.15566647e-02 6.87252917e+00] [-2.11029104e-02 9.99776987e-01 8.01946165e-04 -2.13798641e-01] [-7.15238726e-02 -2.30976713e-03 9.97436214e-01 -8.28300186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.146296757000002 meters 0.06884452135288462 Centerline is valid? [True, True] Translation: X:6.90, Y:-0.21, Z:-0.83 [[ 9.97176494e-01 2.17211565e-02 7.18834508e-02 6.90418579e+00] [-2.18362176e-02 9.99761229e-01 8.15107898e-04 -2.11044069e-01] [-7.18485821e-02 -2.38246911e-03 9.97412706e-01 -8.34049943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.176296757000001 meters 0.06903254354398311 Centerline is valid? [True, True] Translation: X:6.94, Y:-0.21, Z:-0.84 [[ 9.97265837e-01 2.25822694e-02 7.03625773e-02 6.93565344e+00] [-2.26932536e-02 9.99742172e-01 7.78246226e-04 -2.09387188e-01] [-7.03268613e-02 -2.37287418e-03 9.97521179e-01 -8.38499469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.206296757000002 meters 0.06937137867182258 Centerline is valid? [True, True] Translation: X:6.97, Y:-0.21, Z:-0.85 [[ 9.97431165e-01 2.15418234e-02 6.83155971e-02 6.96589899e+00] [-2.16429674e-02 9.99765489e-01 7.40659347e-04 -2.05792586e-01] [-6.82836213e-02 -2.21730896e-03 9.97663486e-01 -8.45239255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.236296757000002 meters 0.06949479740674853 Centerline is valid? [True, True] Translation: X:7.00, Y:-0.20, Z:-0.85 [[ 9.97594193e-01 2.07404607e-02 6.61487595e-02 6.99738085e+00] [-2.08326108e-02 9.99782730e-01 7.03521438e-04 -2.03450278e-01] [-6.61197960e-02 -2.07988026e-03 9.97809524e-01 -8.50018444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.266296757000001 meters 0.069871151664129 Centerline is valid? [True, True] Translation: X:7.03, Y:-0.20, Z:-0.86 [[ 9.97772334e-01 1.91177887e-02 6.39130577e-02 7.02821507e+00] [-1.91995118e-02 9.99815451e-01 6.64671785e-04 -2.00101669e-01] [-6.38885556e-02 -1.89029062e-03 9.97955249e-01 -8.56785110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.296296757000002 meters 0.06964931447041797 Centerline is valid? [True, True] Translation: X:7.06, Y:-0.20, Z:-0.86 [[ 9.97902031e-01 1.84605967e-02 6.20543602e-02 7.06021440e+00] [-1.85355877e-02 9.99828001e-01 6.32978935e-04 -2.02060380e-01] [-6.20320018e-02 -1.78186500e-03 9.98072570e-01 -8.59510896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.326296757000001 meters 0.06940660936477945 Centerline is valid? [True, True] Translation: X:7.09, Y:-0.21, Z:-0.86 [[ 9.97773206e-01 1.83117055e-02 6.41351026e-02 7.09142253e+00] [-1.83897945e-02 9.99830697e-01 6.27408766e-04 -2.05104807e-01] [-6.41127554e-02 -1.80544301e-03 9.97941028e-01 -8.61989729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.356296757 meters 0.06898264851278348 Centerline is valid? [True, True] Translation: X:7.12, Y:-0.21, Z:-0.86 [[ 9.97608475e-01 1.79915700e-02 6.67355457e-02 7.12298662e+00] [-1.80753906e-02 9.99836414e-01 6.52365400e-04 -2.05794781e-01] [-6.67128916e-02 -1.85707631e-03 9.97770485e-01 -8.63558353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.386296757000002 meters 0.06875736553346894 Centerline is valid? [True, True] Translation: X:7.15, Y:-0.21, Z:-0.87 [[ 9.97613323e-01 1.84050690e-02 6.65500688e-02 7.15472532e+00] [-1.84895562e-02 9.99828840e-01 6.53775646e-04 -2.06523810e-01] [-6.65266453e-02 -1.88269653e-03 9.97782873e-01 -8.65993832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.416296757000001 meters 0.06878416657538651 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.21, Z:-0.87 [[ 9.97749550e-01 1.80748449e-02 6.45688404e-02 7.18516506e+00] [-1.81522877e-02 9.99835046e-01 6.12888823e-04 -2.05908226e-01] [-6.45471116e-02 -1.78358171e-03 9.97913067e-01 -8.69992525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.446296757 meters 0.06892042915904517 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.20, Z:-0.87 [[ 9.97849208e-01 1.89680129e-02 6.27468942e-02 7.21663948e+00] [-1.90427846e-02 9.99818493e-01 5.93773872e-04 -2.04326650e-01] [-6.27242425e-02 -1.78737238e-03 9.98029296e-01 -8.73735304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.476296757000002 meters 0.06919865266453376 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.20, Z:-0.88 [[ 9.98000642e-01 1.88284648e-02 6.03341358e-02 7.24694647e+00] [-1.88958804e-02 9.99821307e-01 5.46961754e-04 -2.01305764e-01] [-6.03130561e-02 -1.68593480e-03 9.98178087e-01 -8.77909638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.506296757000001 meters 0.06935869528366272 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.20, Z:-0.88 [[ 9.98046019e-01 1.92025670e-02 5.94592761e-02 7.27886895e+00] [-1.92693772e-02 9.99814177e-01 5.50401311e-04 -1.99776864e-01] [-5.94376580e-02 -1.69506906e-03 9.98230580e-01 -8.82409992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.536296757000002 meters 0.06962879549419944 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.20, Z:-0.89 [[ 9.98134203e-01 1.87317956e-02 5.81139580e-02 7.31046559e+00] [-1.87940387e-02 9.99823239e-01 5.24629978e-04 -2.00145910e-01] [-5.80938585e-02 -1.61584710e-03 9.98309818e-01 -8.86773183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.566296757000002 meters 0.06960026274307433 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.20, Z:-0.89 [[ 9.98353382e-01 1.56622946e-02 5.51834804e-02 7.34261003e+00] [-1.57125192e-02 9.99876437e-01 4.76363160e-04 -2.04001643e-01] [-5.51692008e-02 -1.34265027e-03 9.98476117e-01 -8.91154076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.596296757000001 meters 0.06957919306652216 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.20, Z:-0.90 [[ 9.98382448e-01 1.41000191e-02 5.50788162e-02 7.37422942e+00] [-1.41480272e-02 9.99899796e-01 4.81779890e-04 -2.03862845e-01] [-5.50665040e-02 -1.26025718e-03 9.98481894e-01 -8.96246120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.626296757000002 meters 0.06937413914388095 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.20, Z:-0.90 [[ 9.98363857e-01 9.91903770e-03 5.63136091e-02 7.40395539e+00] [-9.96103435e-03 9.99950279e-01 4.65112086e-04 -1.99476666e-01] [-5.63061957e-02 -1.02529289e-03 9.98413021e-01 -9.00842897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.656296757000002 meters 0.0688335791974181 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.20, Z:-0.90 [[ 9.98360621e-01 8.30930692e-03 5.66306090e-02 7.43610688e+00] [-8.34997639e-03 9.99965022e-01 4.81565233e-04 -1.99070488e-01] [-5.66246267e-02 -9.53640013e-04 9.98395083e-01 -9.01479413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.686296757000001 meters 0.06881602052397241 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.20, Z:-0.91 [[ 9.98431076e-01 4.01697631e-03 5.58502468e-02 7.46693637e+00] [-4.04876756e-03 9.99991700e-01 4.56083731e-04 -2.04026484e-01] [-5.58479511e-02 -6.81492838e-04 9.98439053e-01 -9.05485078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.716296757000002 meters 0.06809925567537971 Centerline is valid? [True, True] Translation: X:7.50, Y:-0.21, Z:-0.90 [[ 9.98435220e-01 1.47358142e-03 5.59011622e-02 7.49916206e+00] [-1.50138255e-03 9.99998769e-01 4.55332484e-04 -2.08716337e-01] [-5.59004224e-02 -5.38549018e-04 9.98436204e-01 -9.04760449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.746296757000001 meters 0.0682534178147003 Centerline is valid? [True, True] Translation: X:7.53, Y:-0.21, Z:-0.91 [[ 9.98337407e-01 -4.07124459e-04 5.76390162e-02 7.52925044e+00] [ 3.82223973e-04 9.99999829e-01 4.43031500e-04 -2.09118149e-01] [-5.76391867e-02 -4.20263905e-04 9.98337392e-01 -9.11537655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.776296757 meters 0.0675421480257474 Centerline is valid? [True, True] Translation: X:7.56, Y:-0.20, Z:-0.91 [[ 9.98329486e-01 -1.72545503e-04 5.77772231e-02 7.56211405e+00] [ 1.46464677e-04 9.99999885e-01 4.55637641e-04 -2.04825436e-01] [-5.77772951e-02 -4.46414170e-04 9.98329397e-01 -9.11789020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.806296757000002 meters 0.06762049375344212 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.20, Z:-0.92 [[ 9.98324355e-01 1.05614501e-03 5.78564340e-02 7.59512589e+00] [-1.08345303e-03 9.99999316e-01 4.40629645e-04 -2.00924276e-01] [-5.78559291e-02 -5.02576035e-04 9.98324816e-01 -9.16911592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.836296757000001 meters 0.06802570311742456 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.19, Z:-0.92 [[ 9.98361150e-01 5.00783596e-03 5.70082081e-02 7.62588891e+00] [-5.03976915e-03 9.99987214e-01 4.16392717e-04 -1.94635193e-01] [-5.70053940e-02 -7.03018521e-04 9.98373623e-01 -9.21883111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.866296757000002 meters 0.06821449073595263 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.19, Z:-0.93 [[ 9.98349962e-01 7.75190517e-03 5.68969316e-02 7.65797253e+00] [-7.78752453e-03 9.99969595e-01 4.04333722e-04 -1.92566093e-01] [-5.68920673e-02 -8.46752806e-04 9.98379976e-01 -9.25489176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.896296757000002 meters 0.06825058099655658 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.19, Z:-0.93 [[ 9.98383557e-01 1.05463174e-02 5.58484381e-02 7.68964946e+00] [-1.05842551e-02 9.99943912e-01 3.83545743e-04 -1.91469615e-01] [-5.58412607e-02 -9.74039879e-04 9.98439184e-01 -9.28199474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.926296757000001 meters 0.0695593228317086 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.18, Z:-0.94 [[ 9.98246377e-01 1.82327560e-02 5.63181845e-02 7.71934833e+00] [-1.82822732e-02 9.99832799e-01 3.64102757e-04 -1.84151772e-01] [-5.63021295e-02 -1.39308870e-03 9.98412805e-01 -9.36034417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.956296757000002 meters 0.0700233126386351 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.18, Z:-0.94 [[ 9.98190783e-01 2.20287292e-02 5.59454759e-02 7.75012320e+00] [-2.20834048e-02 9.99756067e-01 3.59197346e-04 -1.78336912e-01] [-5.59239163e-02 -1.59401407e-03 9.98433761e-01 -9.40017158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.986296757000002 meters 0.07080485763941333 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.17, Z:-0.94 [[ 9.98131557e-01 2.70237915e-02 5.48006317e-02 7.78063147e+00] [-2.70835077e-02 9.99633114e-01 3.47201411e-04 -1.67341731e-01] [-5.47711434e-02 -1.83074602e-03 9.98497256e-01 -9.43141524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.016296757000001 meters 0.07153579949529727 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.16, Z:-0.95 [[ 9.98251383e-01 2.84279487e-02 5.18268983e-02 7.81110573e+00] [-2.84832110e-02 9.99594217e-01 3.27854486e-04 -1.61304512e-01] [-5.17965477e-02 -1.80347768e-03 9.98656029e-01 -9.49342068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.046296757000002 meters 0.07260506971452232 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.16, Z:-0.96 [[ 9.98440802e-01 2.81733082e-02 4.81895113e-02 7.83984943e+00] [-2.82208287e-02 9.99601666e-01 3.05897425e-04 -1.55305301e-01] [-4.81616977e-02 -1.66536841e-03 9.98838164e-01 -9.57327887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.076296757000001 meters 0.07277267254563156 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.16, Z:-0.96 [[ 9.98515385e-01 2.63412283e-02 4.76777265e-02 7.87173254e+00] [-2.63862372e-02 9.99651773e-01 3.14784527e-04 -1.56078085e-01] [-4.76528320e-02 -1.57235299e-03 9.98862721e-01 -9.63186745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.106296757 meters 0.07244011715899328 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.16, Z:-0.97 [[ 9.98667372e-01 2.24127898e-02 4.64881349e-02 7.90408323e+00] [-2.24504111e-02 9.99747916e-01 2.87237991e-04 -1.58036794e-01] [-4.64699783e-02 -1.33053295e-03 9.98918801e-01 -9.68423168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.136296757000002 meters 0.07050445279551593 Centerline is valid? [True, True] Translation: X:7.94, Y:-0.16, Z:-0.97 [[ 9.98642015e-01 1.54925578e-02 4.97403948e-02 7.93514511e+00] [-1.55266158e-02 9.99879410e-01 2.98375040e-04 -1.61757412e-01] [-4.97297740e-02 -1.07026985e-03 9.98762136e-01 -9.66614685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.166296757000001 meters 0.0702009837138246 Centerline is valid? [True, True] Translation: X:7.97, Y:-0.16, Z:-0.97 [[ 9.98667051e-01 1.17490597e-02 5.02601331e-02 7.96644508e+00] [-1.17791272e-02 9.99930578e-01 3.02071632e-04 -1.60868598e-01] [-5.02530949e-02 -8.93689486e-04 9.98736115e-01 -9.70324745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.196296757 meters 0.07078147130860556 Centerline is valid? [True, True] Translation: X:8.00, Y:-0.16, Z:-0.98 [[ 9.98827960e-01 7.12841848e-03 4.78737106e-02 7.99711664e+00] [-7.15089553e-03 9.99974388e-01 2.98253271e-04 -1.57610967e-01] [-4.78703584e-02 -6.40243610e-04 9.98853352e-01 -9.76523567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.226296757000002 meters 0.07118952821361312 Centerline is valid? [True, True] Translation: X:8.03, Y:-0.16, Z:-0.98 [[ 9.98912824e-01 4.95086833e-03 4.63536333e-02 8.02906785e+00] [-4.96871705e-03 9.99987619e-01 2.69841659e-04 -1.57494797e-01] [-4.63517234e-02 -4.99866381e-04 9.98925056e-01 -9.82021375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.256296757000001 meters 0.07125785926976551 Centerline is valid? [True, True] Translation: X:8.06, Y:-0.16, Z:-0.99 [[ 9.98930876e-01 2.38591546e-03 4.61672232e-02 8.06060646e+00] [-2.40125347e-03 9.99997079e-01 2.76770887e-04 -1.58835908e-01] [-4.61664280e-02 -3.87334190e-04 9.98933687e-01 -9.86548513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.286296757000002 meters 0.07068757771045668 Centerline is valid? [True, True] Translation: X:8.09, Y:-0.17, Z:-0.99 [[ 9.98646038e-01 -3.79983312e-03 5.18811249e-02 8.09187378e+00] [ 3.79024694e-03 9.99992777e-01 2.83158592e-04 -1.65833085e-01] [-5.18818261e-02 -8.61329317e-05 9.98653227e-01 -9.87853233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.316296757000002 meters 0.07068757771045668 Centerline is valid? [True, True] Translation: X:8.12, Y:-0.17, Z:-0.99 [[ 9.98646956e-01 -3.55154582e-03 5.18810490e-02 8.12423094e+00] [ 3.54087939e-03 9.99993687e-01 2.97506962e-04 -1.65775458e-01] [-5.18817781e-02 -1.13399885e-04 9.98653227e-01 -9.91621015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.346296757000001 meters 0.07092130667102754 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.17, Z:-1.00 [[ 9.98611322e-01 -8.12075514e-03 5.20526663e-02 8.15540329e+00] [ 8.11706931e-03 9.99967016e-01 2.82213635e-04 -1.71767404e-01] [-5.20532412e-02 1.40693369e-04 9.98644301e-01 -9.97381981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.376296757000002 meters 0.06973102217420422 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.17, Z:-0.99 [[ 9.98635987e-01 -9.54634669e-03 5.13325608e-02 8.18818484e+00] [ 9.54506033e-03 9.99954408e-01 2.70212659e-04 -1.69737058e-01] [-5.13328000e-02 2.20128305e-04 9.98681578e-01 -9.92608610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.406296757000002 meters 0.06980647458742525 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.17, Z:-1.00 [[ 9.98656903e-01 -9.90804701e-03 5.08549064e-02 8.22017683e+00] [ 9.90784517e-03 9.99950883e-01 2.56069496e-04 -1.66924618e-01] [-5.08549458e-02 2.48136969e-04 9.98706019e-01 -9.97229482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.436296757000001 meters 0.07179408641162212 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.17, Z:-1.01 [[ 9.98665956e-01 -1.27937075e-02 5.00262828e-02 8.24955766e+00] [ 1.27980793e-02 9.99918074e-01 2.32942755e-04 -1.69106630e-01] [-5.00251646e-02 4.07608334e-04 9.98747874e-01 -1.01001963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.466296757000002 meters 0.07235857333090953 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.18, Z:-1.01 [[ 9.98674052e-01 -1.60456380e-02 4.89149712e-02 8.28040415e+00] [ 1.60542566e-02 9.99871099e-01 2.16705256e-04 -1.75375289e-01] [-4.89121431e-02 5.68875584e-04 9.98802923e-01 -1.01431511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.496296757000001 meters 0.07129783589891243 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.18, Z:-1.01 [[ 9.98616361e-01 -2.15327770e-02 4.79760683e-02 8.31249002e+00] [ 2.15474547e-02 9.99767804e-01 2.11279834e-04 -1.84618754e-01] [-4.79694779e-02 8.22774657e-04 9.98848463e-01 -1.00918406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.526296757 meters 0.07363674333059617 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.19, Z:-1.02 [[ 9.98604028e-01 -2.37315132e-02 4.71890833e-02 8.34173729e+00] [ 2.37479762e-02 9.99717955e-01 2.11811210e-04 -1.90864331e-01] [-4.71808004e-02 9.09129699e-04 9.98885952e-01 -1.02269310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.556296757000002 meters 0.0740180132747877 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.19, Z:-1.03 [[ 9.98532081e-01 -2.57146100e-02 4.76701276e-02 8.37387005e+00] [ 2.57336169e-02 9.99668813e-01 2.15051054e-04 -1.94712059e-01] [-4.76598698e-02 1.01198943e-03 9.98863110e-01 -1.02625979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.586296757000001 meters 0.07205931883352455 Centerline is valid? [True, True] Translation: X:8.41, Y:-0.20, Z:-1.02 [[ 9.98611890e-01 -2.43485704e-02 4.67058819e-02 8.40677708e+00] [ 2.43657182e-02 9.99703091e-01 2.02227278e-04 -1.98203702e-01] [-4.66969385e-02 9.36075794e-04 9.98908664e-01 -1.02122406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.616296757000002 meters 0.07016378784382242 Centerline is valid? [True, True] Translation: X:8.44, Y:-0.20, Z:-1.02 [[ 9.98584654e-01 -1.57188153e-02 5.08095243e-02 8.43779093e+00] [ 1.57293148e-02 9.99876268e-01 1.93231497e-04 -1.96083441e-01] [-5.08062749e-02 6.06240993e-04 9.98708343e-01 -1.02040687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.646296757000002 meters 0.0696196590984714 Centerline is valid? [True, True] Translation: X:8.47, Y:-0.19, Z:-1.02 [[ 9.98587793e-01 -9.56982085e-03 5.22574201e-02 8.46760312e+00] [ 9.57260309e-03 9.99954162e-01 1.97055078e-04 -1.89519482e-01] [-5.22569105e-02 3.03462745e-04 9.98633628e-01 -1.02462648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.676296757000001 meters 0.0681746998355565 Centerline is valid? [True, True] Translation: X:8.50, Y:-0.18, Z:-1.02 [[ 9.98454263e-01 -3.28217311e-03 5.54825422e-02 8.49864885e+00] [ 3.27561215e-03 9.99994613e-01 2.09192201e-04 -1.81467386e-01] [-5.54829299e-02 -2.71295554e-05 9.98459636e-01 -1.02021398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.706296757000002 meters 0.06839987486165251 Centerline is valid? [True, True] Translation: X:8.53, Y:-0.17, Z:-1.02 [[ 9.98426160e-01 9.40268431e-03 5.52882688e-02 8.52972862e+00] [-9.42933713e-03 9.99955518e-01 2.21218645e-04 -1.74255269e-01] [-5.52837294e-02 -7.42202208e-04 9.98470409e-01 -1.02323825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.736296757000002 meters 0.0684992160223971 Centerline is valid? [True, True] Translation: X:8.56, Y:-0.17, Z:-1.03 [[ 9.98368364e-01 1.45577024e-02 5.52148728e-02 8.56133254e+00] [-1.45915149e-02 9.99893516e-01 2.09265764e-04 -1.74097984e-01] [-5.52059469e-02 -1.01459296e-03 9.98474473e-01 -1.02597849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.766296757000001 meters 0.06741293276905205 Centerline is valid? [True, True] Translation: X:8.59, Y:-0.17, Z:-1.02 [[ 9.98086128e-01 2.43804488e-02 5.68302302e-02 8.59333460e+00] [-2.44309134e-02 9.99701502e-01 1.93284832e-04 -1.74875758e-01] [-5.68085542e-02 -1.58132934e-03 9.98383838e-01 -1.01988641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.796296757000002 meters 0.07017328660296572 Centerline is valid? [True, True] Translation: X:8.62, Y:-0.17, Z:-1.03 [[ 9.97921382e-01 2.97105783e-02 5.71856280e-02 8.62234263e+00] [-2.97701343e-02 9.99556753e-01 1.89635194e-04 -1.66521154e-01] [-5.71546465e-02 -1.89166484e-03 9.98363545e-01 -1.03303916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.826296757000001 meters 0.06884730622027273 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.17, Z:-1.03 [[ 9.97703202e-01 3.45979425e-02 5.82349032e-02 8.65539654e+00] [-3.46681260e-02 9.99398861e-01 1.95002783e-04 -1.67937500e-01] [-5.81931492e-02 -2.21344986e-03 9.98302889e-01 -1.02889672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.856296757 meters 0.06808529092686146 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.17, Z:-1.03 [[ 9.97625531e-01 3.79202647e-02 5.74922011e-02 8.68648161e+00] [-3.79937796e-02 9.99277958e-01 1.85763298e-04 -1.69037638e-01] [-5.74436451e-02 -2.36966823e-03 9.98345938e-01 -1.02791031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.886296757000002 meters 0.07020820868088641 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.16, Z:-1.04 [[ 9.97487770e-01 4.17520643e-02 5.72268570e-02 8.71544836e+00] [-4.18310707e-02 9.99124681e-01 1.82842144e-04 -1.62305752e-01] [-5.71691312e-02 -2.57624350e-03 9.98361184e-01 -1.03688074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.916296757000001 meters 0.06964494308922141 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.16, Z:-1.04 [[ 9.97548220e-01 4.28909978e-02 5.52983770e-02 8.74660141e+00] [-4.29665609e-02 9.99076495e-01 1.77737629e-04 -1.63367725e-01] [-5.52396854e-02 -2.55328294e-03 9.98469858e-01 -1.03779801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.946296757000002 meters 0.0702301652889728 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.16, Z:-1.04 [[ 9.97613354e-01 4.30040730e-02 5.40207869e-02 8.77753796e+00] [-4.30769895e-02 9.99071738e-01 1.85596152e-04 -1.62517391e-01] [-5.39626601e-02 -2.51220607e-03 9.98539794e-01 -1.04377394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.976296757000002 meters 0.0702607969009348 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.16, Z:-1.05 [[ 9.97602047e-01 4.27677497e-02 5.44157580e-02 8.80971257e+00] [-4.28407612e-02 9.99081898e-01 1.75437543e-04 -1.62602202e-01] [-5.43582957e-02 -2.50622935e-03 9.98518350e-01 -1.04752688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.006296757000001 meters 0.0707552474924484 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.16, Z:-1.05 [[ 9.97559402e-01 4.42619121e-02 5.40011299e-02 8.84020061e+00] [-4.43346011e-02 9.99016727e-01 1.48284254e-04 -1.58423702e-01] [-5.39414687e-02 -2.54204090e-03 9.98540863e-01 -1.05219030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.036296757000002 meters 0.07117638354245995 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.16, Z:-1.06 [[ 9.97476484e-01 4.54009609e-02 5.45840386e-02 8.87258631e+00] [-4.54776207e-02 9.98965345e-01 1.62513981e-04 -1.55291179e-01] [-5.45201846e-02 -2.64445608e-03 9.98509167e-01 -1.05644035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.066296757000002 meters 0.07114252765864479 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.15, Z:-1.06 [[ 9.97246024e-01 4.54645167e-02 5.85947578e-02 8.90270841e+00] [-4.55509832e-02 9.98962005e-01 1.40151438e-04 -1.51530487e-01] [-5.85275649e-02 -2.80881430e-03 9.98281841e-01 -1.05874835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.096296757000001 meters 0.07080212485573394 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.15, Z:-1.06 [[ 9.97174015e-01 4.40698473e-02 6.08426783e-02 8.93342330e+00] [-4.41606038e-02 9.99024434e-01 1.47139488e-04 -1.51191794e-01] [-6.07768378e-02 -2.83357308e-03 9.98147357e-01 -1.06113171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.126296757000002 meters 0.07084409039936818 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.15, Z:-1.06 [[ 9.97215488e-01 4.25360155e-02 6.12532219e-02 8.96360240e+00] [-4.26250546e-02 9.99091129e-01 1.47076695e-04 -1.50299243e-01] [-6.11912945e-02 -2.75758909e-03 9.98122248e-01 -1.06474839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.156296757000002 meters 0.07034390080731778 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.15, Z:-1.07 [[ 9.97301005e-01 3.93492420e-02 6.19866269e-02 8.99407325e+00] [-3.94341717e-02 9.99222160e-01 1.46878694e-04 -1.52047806e-01] [-6.19326317e-02 -2.59087356e-03 9.98076969e-01 -1.06729069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.186296757000001 meters 0.07121222760128179 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.15, Z:-1.07 [[ 9.97520773e-01 3.91869137e-02 5.84524842e-02 9.02347070e+00] [-3.92621337e-02 9.99228936e-01 1.38504464e-04 -1.49597621e-01] [-5.84019860e-02 -2.43313033e-03 9.98290182e-01 -1.07404270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.216296757000002 meters 0.06885793202144166 Centerline is valid? [True, True] Translation: X:9.06, Y:-0.15, Z:-1.07 [[ 9.97598521e-01 3.92258419e-02 5.70834788e-02 9.05619465e+00] [-3.92978709e-02 9.99227531e-01 1.39387638e-04 -1.53893967e-01] [-5.70339160e-02 -2.38231208e-03 9.98369399e-01 -1.06975433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.246296757000001 meters 0.06905841383794778 Centerline is valid? [True, True] Translation: X:9.09, Y:-0.15, Z:-1.07 [[ 9.97629396e-01 3.93579874e-02 5.64494258e-02 9.08649477e+00] [-3.94288207e-02 9.99222372e-01 1.41171470e-04 -1.51721925e-01] [-5.63999729e-02 -2.36657110e-03 9.98405450e-01 -1.07463096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.276296757 meters 0.06863221715594008 Centerline is valid? [True, True] Translation: X:9.12, Y:-0.15, Z:-1.08 [[ 9.97738869e-01 3.39984825e-02 5.79763094e-02 9.11728357e+00] [-3.40628597e-02 9.99419685e-01 1.22229026e-04 -1.51298258e-01] [-5.79385093e-02 -2.09679154e-03 9.98317952e-01 -1.07831656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.306296757000002 meters 0.06865900911432708 Centerline is valid? [True, True] Translation: X:9.15, Y:-0.15, Z:-1.08 [[ 9.97943345e-01 3.14135027e-02 5.58772877e-02 9.14930375e+00] [-3.14700329e-02 9.99504687e-01 1.31837552e-04 -1.51731825e-01] [-5.58454695e-02 -1.89002649e-03 9.98437635e-01 -1.08305611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.336296757000001 meters 0.06865206577670516 Centerline is valid? [True, True] Translation: X:9.18, Y:-0.15, Z:-1.09 [[ 9.98186204e-01 2.67859068e-02 5.39149176e-02 9.18053096e+00] [-2.68311363e-02 9.99639974e-01 1.15125189e-04 -1.53571242e-01] [-5.38924230e-02 -1.56151488e-03 9.98545526e-01 -1.08914960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.366296757000002 meters 0.06682991465384944 Centerline is valid? [True, True] Translation: X:9.21, Y:-0.16, Z:-1.08 [[ 9.98171727e-01 2.56806775e-02 5.47147799e-02 9.21373400e+00] [-2.57249265e-02 9.99669054e-01 1.04463753e-04 -1.59489135e-01] [-5.46939896e-02 -1.51180646e-03 9.98502019e-01 -1.08398402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.396296757000002 meters 0.0681738156239754 Centerline is valid? [True, True] Translation: X:9.24, Y:-0.16, Z:-1.10 [[ 9.98122096e-01 2.43920851e-02 5.61899193e-02 9.24269374e+00] [-2.44350591e-02 9.99701416e-01 7.77781590e-05 -1.59950159e-01] [-5.61712447e-02 -1.45063610e-03 9.98420095e-01 -1.09585590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.426296757000001 meters 0.06647257073073448 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.16, Z:-1.09 [[ 9.98028343e-01 2.44440319e-02 5.78093115e-02 9.27524454e+00] [-2.44896664e-02 9.99700080e-01 8.09641279e-05 -1.63110297e-01] [-5.77899942e-02 -1.49653525e-03 9.98327640e-01 -1.09010818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.456296757000002 meters 0.06754877217407015 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.16, Z:-1.10 [[ 9.97866225e-01 2.61835570e-02 5.98115304e-02 9.30539629e+00] [-2.62359216e-02 9.99655775e-01 9.02169092e-05 -1.58503488e-01] [-5.97885795e-02 -1.65923503e-03 9.98209684e-01 -1.09967072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.486296757000002 meters 0.06686041420088276 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.16, Z:-1.10 [[ 9.97769326e-01 2.94926867e-02 5.98878476e-02 9.33823240e+00] [-2.95497661e-02 9.99563308e-01 6.75049028e-05 -1.59467936e-01] [-5.98597042e-02 -1.83702621e-03 9.98205110e-01 -1.09731452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.516296757000001 meters 0.06783022413098708 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.16, Z:-1.10 [[ 9.97793088e-01 3.13342897e-02 5.85415667e-02 9.36753414e+00] [-3.13918066e-02 9.99507154e-01 6.28773849e-05 -1.57777607e-01] [-5.85107445e-02 -1.90046416e-03 9.98284970e-01 -1.10458752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.546296757000002 meters 0.06783257506525972 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.16, Z:-1.11 [[ 9.97776418e-01 3.59853467e-02 5.61005678e-02 9.39821039e+00] [-3.60449590e-02 9.99350168e-01 5.07626286e-05 -1.61909385e-01] [-5.60622851e-02 -2.07279242e-03 9.98425122e-01 -1.10504353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.576296757000001 meters 0.0684367326564143 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.16, Z:-1.11 [[ 9.97522686e-01 4.12257373e-02 5.69993833e-02 9.42898885e+00] [-4.12958866e-02 9.99146960e-01 5.28699872e-05 -1.59228509e-01] [-5.69485809e-02 -2.40657908e-03 9.98374212e-01 -1.11017922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.606296757 meters 0.06861466659977143 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.16, Z:-1.11 [[ 9.97320874e-01 4.38476021e-02 5.85530689e-02 9.46130535e+00] [-4.39267387e-02 9.99034753e-01 6.44734767e-05 -1.57171500e-01] [-5.84937237e-02 -2.63634610e-03 9.98284295e-01 -1.11372587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.636296757000002 meters 0.06978675904283711 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.15, Z:-1.12 [[ 9.97014613e-01 4.76462625e-02 6.07593275e-02 9.49156964e+00] [-4.77370953e-02 9.98859934e-01 4.34333365e-05 -1.53930639e-01] [-6.06879885e-02 -2.94377748e-03 9.98152444e-01 -1.11873014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.666296757000001 meters 0.06978675904283711 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.15, Z:-1.12 [[ 9.97001143e-01 4.79272908e-02 6.07593293e-02 9.52394892e+00] [-4.80187019e-02 9.98846436e-01 4.43904449e-05 -1.53998271e-01] [-6.06871120e-02 -2.96184145e-03 9.98152444e-01 -1.12250086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.696296757000002 meters 0.07083679307094275 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.15, Z:-1.13 [[ 9.96887228e-01 5.19016095e-02 5.93470899e-02 9.55326906e+00] [-5.19938909e-02 9.98647403e-01 1.07549240e-05 -1.53419936e-01] [-5.92662590e-02 -3.09640757e-03 9.98237408e-01 -1.12646087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.726296757000002 meters 0.07066813575850418 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.15, Z:-1.13 [[ 9.96774687e-01 5.43296394e-02 5.90636443e-02 9.58410847e+00] [-5.44254209e-02 9.98517838e-01 1.29995846e-05 -1.54133208e-01] [-5.89753962e-02 -3.22752136e-03 9.98254219e-01 -1.12865697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.756296757000001 meters 0.07250131720119501 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.15, Z:-1.13 [[ 9.96594930e-01 5.79049588e-02 5.86988956e-02 9.61393254e+00] [-5.80056705e-02 9.98316254e-01 1.18495765e-05 -1.49346030e-01] [-5.85993754e-02 -3.41667803e-03 9.98275733e-01 -1.13486221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.786296757000002 meters 0.07509632009586392 Centerline is valid? [True, True] Translation: X:9.64, Y:-0.14, Z:-1.14 [[ 9.96133601e-01 6.53548454e-02 5.87076978e-02 9.64372682e+00] [-6.54684039e-02 9.97854643e-01 1.09184374e-05 -1.39817450e-01] [-5.85810352e-02 -3.85437549e-03 9.98275216e-01 -1.14031085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.816296757000002 meters 0.07539325580356215 Centerline is valid? [True, True] Translation: X:9.67, Y:-0.13, Z:-1.14 [[ 9.95711744e-01 7.19905511e-02 5.80989115e-02 9.67433119e+00] [-7.21128864e-02 9.97396477e-01 9.05090646e-06 -1.34316922e-01] [-5.79469981e-02 -4.19869230e-03 9.98310832e-01 -1.14217199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.846296757000001 meters 0.07511579840704044 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.13, Z:-1.14 [[ 9.95572483e-01 7.37122436e-02 5.83261185e-02 9.70594446e+00] [-7.38392044e-02 9.97270160e-01 2.15867135e-05 -1.33928025e-01] [-5.81653063e-02 -4.32824532e-03 9.98297583e-01 -1.14458441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.876296757000002 meters 0.07713729128090033 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.13, Z:-1.15 [[ 9.95630769e-01 7.40693891e-02 5.68603269e-02 9.73621607e+00] [-7.41898956e-02 9.97244132e-01 8.42666946e-06 -1.29896082e-01] [-5.67030032e-02 -4.22685156e-03 9.98382143e-01 -1.15180749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.906296757000002 meters 0.07667290127514491 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.13, Z:-1.16 [[ 9.95883576e-01 7.05730817e-02 5.68800690e-02 9.76672396e+00] [-7.06865141e-02 9.97498580e-01 -1.77602703e-05 -1.32581001e-01] [-5.67390414e-02 -4.00296664e-03 9.98381018e-01 -1.15649440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.936296757000001 meters 0.07466171296468307 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.14, Z:-1.16 [[ 9.95996601e-01 6.80967052e-02 5.79103602e-02 9.79806822e+00] [-6.82101399e-02 9.97670976e-01 -1.79404665e-05 -1.37983548e-01] [-5.77767073e-02 -3.93220513e-03 9.98321787e-01 -1.15759897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.966296757000002 meters 0.07375738879061851 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.14, Z:-1.16 [[ 9.96334659e-01 6.25765823e-02 5.83216846e-02 9.82712822e+00] [-6.26820460e-02 9.98033547e-01 -2.11495088e-05 -1.41559933e-01] [-5.82083212e-02 -3.63465053e-03 9.98297842e-01 -1.16130963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.996296757000001 meters 0.07335119452097177 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.14, Z:-1.17 [[ 9.96496839e-01 5.94612798e-02 5.88082098e-02 9.85719964e+00] [-5.95632420e-02 9.98224534e-01 -1.91463588e-05 -1.42171491e-01] [-5.87049362e-02 -3.48372834e-03 9.98269299e-01 -1.16554687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.026296757000003 meters 0.07213641074312428 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.15, Z:-1.17 [[ 9.96812440e-01 5.26677074e-02 5.99255601e-02 9.88704917e+00] [-5.27613538e-02 9.98607150e-01 -1.96131270e-05 -1.47363762e-01] [-5.98431257e-02 -3.14220307e-03 9.98202849e-01 -1.16952571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.056296757000002 meters 0.07170143890196191 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.15, Z:-1.17 [[ 9.96781993e-01 5.04840660e-02 6.22657034e-02 9.91735250e+00] [-5.05809939e-02 9.98719962e-01 -1.96023134e-05 -1.49324165e-01] [-6.21869906e-02 -3.12992193e-03 9.98059608e-01 -1.17231014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.086296757000001 meters 0.07096197635664757 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.15, Z:-1.17 [[ 9.96773805e-01 4.91608702e-02 6.34443922e-02 9.94927832e+00] [-4.92589364e-02 9.98786042e-01 -1.84962441e-05 -1.53397938e-01] [-6.33682826e-02 -3.10676671e-03 9.97985375e-01 -1.17480637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.116296757000002 meters 0.07043574535654211 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.16, Z:-1.18 [[ 9.96766475e-01 4.44709070e-02 6.69248359e-02 9.97829585e+00] [-4.45690415e-02 9.99006306e-01 -2.67482620e-05 -1.60875575e-01] [-6.68595227e-02 -2.95611402e-03 9.97758020e-01 -1.17798331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.146296757000002 meters 0.06974143159457315 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.16, Z:-1.18 [[ 9.96832998e-01 4.07939015e-02 6.82629612e-02 1.00076031e+01] [-4.08875659e-02 9.99163754e-01 -2.50909912e-05 -1.64638867e-01] [-6.82069001e-02 -2.76609480e-03 9.97667363e-01 -1.18137347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.176296757000001 meters 0.06835521854196272 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.17, Z:-1.18 [[ 9.96992327e-01 3.37812856e-02 6.97504495e-02 1.00378115e+01] [-3.38619745e-02 9.99426519e-01 -2.55759014e-05 -1.71516578e-01] [-6.97113129e-02 -2.33638896e-03 9.97564471e-01 -1.18399472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.206296757000002 meters 0.06835521854196272 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.17, Z:-1.19 [[ 9.96983465e-01 3.40418149e-02 6.97504555e-02 1.00701525e+01] [-3.41239829e-02 9.99417607e-01 -1.35118911e-05 -1.71638316e-01] [-6.97102933e-02 -2.36669222e-03 9.97564471e-01 -1.18776059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.236296757000002 meters 0.06828684051292956 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.17, Z:-1.19 [[ 9.97034032e-01 3.18365725e-02 7.00683395e-02 1.01008265e+01] [-3.19120127e-02 9.99490681e-01 -4.27418230e-05 -1.73942051e-01] [-7.00340131e-02 -2.19340669e-03 9.97542193e-01 -1.19213212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.266296757000001 meters 0.0672963997249566 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.18, Z:-1.19 [[ 9.97133497e-01 3.13703451e-02 6.88526672e-02 1.01336190e+01] [-3.14425878e-02 9.99505559e-01 -3.45192310e-05 -1.79704877e-01] [-6.88197065e-02 -2.13048576e-03 9.97626839e-01 -1.19211381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.296296757000002 meters 0.06935360117113323 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.18, Z:-1.20 [[ 9.97364175e-01 3.27950077e-02 6.47239500e-02 1.01619341e+01] [-3.28602188e-02 9.99459956e-01 -5.70410036e-05 -1.78040047e-01] [-6.46908669e-02 -2.06995251e-03 9.97903205e-01 -1.20273067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.326296757000001 meters 0.07031173939547043 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.18, Z:-1.21 [[ 9.97262087e-01 3.62977808e-02 6.44267045e-02 1.01917080e+01] [-3.63696032e-02 9.99338405e-01 -5.80501330e-05 -1.76873857e-01] [-6.43861872e-02 -2.28528248e-03 9.97922440e-01 -1.20775322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.356296757000003 meters 0.06919432811595802 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.18, Z:-1.21 [[ 9.97192093e-01 3.81996320e-02 6.44105407e-02 1.02245632e+01] [-3.82758365e-02 9.99267210e-01 -5.08946707e-05 -1.79981637e-01] [-6.43652855e-02 -2.41461556e-03 9.97923484e-01 -1.20626849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.386296757000002 meters 0.06955213372964023 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.18, Z:-1.21 [[ 9.97071161e-01 4.01148014e-02 6.51145335e-02 1.02569013e+01] [-4.01957390e-02 9.99191822e-01 -6.71039183e-05 -1.78667677e-01] [-6.50646012e-02 -2.55041941e-03 9.97877795e-01 -1.20992861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.416296757000001 meters 0.0700779671055376 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.18, Z:-1.21 [[ 9.96739234e-01 4.29802075e-02 6.82905613e-02 1.02893667e+01] [-4.30743025e-02 9.99071867e-01 -9.47263983e-05 -1.78566780e-01] [-6.82312500e-02 -2.84715078e-03 9.97665470e-01 -1.21322021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.446296757000002 meters 0.07146938822932314 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.18, Z:-1.22 [[ 9.96514872e-01 4.73257700e-02 6.86904748e-02 1.03186645e+01] [-4.74305998e-02 9.98874530e-01 -1.04937406e-04 -1.79504969e-01] [-6.86181320e-02 -3.15345874e-03 9.97638014e-01 -1.21776196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.476296757000002 meters 0.0723757945579327 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.18, Z:-1.22 [[ 9.96441299e-01 4.99285522e-02 6.79108049e-02 1.03498103e+01] [-5.00371366e-02 9.98747353e-01 -1.02191915e-04 -1.78035902e-01] [-6.78308389e-02 -3.29623398e-03 9.97691391e-01 -1.22250080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.506296757000001 meters 0.07349352553152205 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.17, Z:-1.23 [[ 9.96164284e-01 5.40352449e-02 6.88252282e-02 1.03805358e+01] [-5.41563359e-02 9.98532463e-01 -1.06627452e-04 -1.74291784e-01] [-6.87299863e-02 -3.62110371e-03 9.97628727e-01 -1.22707341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.536296757000002 meters 0.07721315742897676 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.17, Z:-1.23 [[ 9.95225002e-01 6.52391304e-02 7.26020096e-02 1.04105223e+01] [-6.54034586e-02 9.97858895e-01 -1.14175567e-04 -1.65080814e-01] [-7.24540098e-02 -4.63479215e-03 9.97360985e-01 -1.23144949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.566296757000002 meters 0.0791883594698955 Centerline is valid? [True, True] Translation: X:10.44, Y:-0.16, Z:-1.23 [[ 9.94707256e-01 6.95717376e-02 7.56124867e-02 1.04406488e+01] [-6.97624653e-02 9.97563624e-01 -1.19084268e-04 -1.60198649e-01] [-7.54365512e-02 -5.15645949e-03 9.97137271e-01 -1.23417332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.596296757000001 meters 0.07684716393933001 Centerline is valid? [True, True] Translation: X:10.47, Y:-0.16, Z:-1.23 [[ 9.94058761e-01 7.68625071e-02 7.70670827e-02 1.04715497e+01] [-7.70823081e-02 9.97024725e-01 -1.22962619e-04 -1.63250291e-01] [-7.68472381e-02 -5.81827654e-03 9.97025902e-01 -1.23115266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.626296757000002 meters 0.07806171788648522 Centerline is valid? [True, True] Translation: X:10.50, Y:-0.16, Z:-1.24 [[ 9.93887697e-01 7.95213648e-02 7.65741336e-02 1.05019802e+01] [-7.97461462e-02 9.96815197e-01 -1.22643618e-04 -1.59113402e-01] [-7.63400128e-02 -5.98459807e-03 9.97063883e-01 -1.23568554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.656296757000002 meters 0.08065988005531126 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.15, Z:-1.24 [[ 9.93815063e-01 8.38572190e-02 7.27982591e-02 1.05309411e+01] [-8.40718268e-02 9.96459690e-01 -1.16632644e-04 -1.53512067e-01] [-7.25503112e-02 -6.00437135e-03 9.97346680e-01 -1.24232397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.686296757000001 meters 0.08357295184498664 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.15, Z:-1.25 [[ 9.93883608e-01 8.43006363e-02 7.13356612e-02 1.05614268e+01] [-8.45082553e-02 9.96422773e-01 -1.07998403e-04 -1.48768248e-01] [-7.10895817e-02 -5.92111443e-03 9.97452361e-01 -1.24951954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.716296757000002 meters 0.08150047097795432 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.15, Z:-1.25 [[ 9.93968499e-01 8.43092425e-02 7.01325512e-02 1.05932168e+01] [-8.45089120e-02 9.96422716e-01 -1.20456963e-04 -1.53600902e-01] [-6.98918228e-02 -5.80709518e-03 9.97537674e-01 -1.25197373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.746296757000001 meters 0.08201576248421773 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.15, Z:-1.26 [[ 9.94149169e-01 8.19784089e-02 7.03347052e-02 1.06227754e+01] [-8.21715138e-02 9.96618192e-01 -1.48312431e-04 -1.52255819e-01] [-7.01090052e-02 -5.63206452e-03 9.97523437e-01 -1.25722107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.776296757000003 meters 0.08011564950892122 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.15, Z:-1.26 [[ 9.94181260e-01 8.09817059e-02 7.10322794e-02 1.06544188e+01] [-8.11762581e-02 9.96699751e-01 -1.48263565e-04 -1.54704910e-01] [-7.08098618e-02 -5.61873378e-03 9.97474006e-01 -1.25832419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.806296757000002 meters 0.0760503371614569 Centerline is valid? [True, True] Translation: X:10.69, Y:-0.16, Z:-1.26 [[ 9.94388678e-01 7.65967908e-02 7.29663593e-02 1.06852612e+01] [-7.67901518e-02 9.97047265e-01 -1.55732933e-04 -1.61884855e-01] [-7.27628376e-02 -5.44823874e-03 9.97334390e-01 -1.25825830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.836296757000001 meters 0.07317055958722295 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.17, Z:-1.26 [[ 9.94614181e-01 7.06484213e-02 7.58381876e-02 1.07156493e+01] [-7.08400776e-02 9.97487672e-01 -1.63288537e-04 -1.70402175e-01] [-7.56591933e-02 -5.20997400e-03 9.97120124e-01 -1.25920847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.866296757000002 meters 0.07262915326243212 Centerline is valid? [True, True] Translation: X:10.75, Y:-0.17, Z:-1.26 [[ 9.94644294e-01 6.74622382e-02 7.83043786e-02 1.07459945e+01] [-6.76567639e-02 9.97708642e-01 -1.69133983e-04 -1.73181229e-01] [-7.81363654e-02 -5.12959271e-03 9.96929484e-01 -1.26260541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.896296757000002 meters 0.07237055131068507 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.17, Z:-1.27 [[ 9.94853608e-01 6.46146453e-02 7.80464328e-02 1.07759734e+01] [-6.47990658e-02 9.97898318e-01 -1.69916862e-04 -1.74891900e-01] [-7.78933831e-02 -4.88829353e-03 9.96949711e-01 -1.26664310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.926296757000001 meters 0.07167379026371096 Centerline is valid? [True, True] Translation: X:10.81, Y:-0.18, Z:-1.27 [[ 9.95085637e-01 5.92052422e-02 7.93682162e-02 1.08066205e+01] [-5.93789192e-02 9.98235500e-01 -1.72171817e-04 -1.77110091e-01] [-7.92383644e-02 -4.54147319e-03 9.96845352e-01 -1.27062367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.956296757000002 meters 0.07175675234527701 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.18, Z:-1.27 [[ 9.95257675e-01 5.79299954e-02 7.81426599e-02 1.08383380e+01] [-5.80949726e-02 9.98311048e-01 -1.62356073e-04 -1.77779842e-01] [-7.80200859e-02 -4.37810956e-03 9.96942174e-01 -1.27475553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.986296757000002 meters 0.07143328061167663 Centerline is valid? [True, True] Translation: X:10.87, Y:-0.18, Z:-1.28 [[ 9.95564500e-01 5.45681223e-02 7.66397116e-02 1.08685411e+01] [-5.47148522e-02 9.98502003e-01 -1.85477463e-04 -1.80076974e-01] [-7.65350267e-02 -4.00867572e-03 9.97058835e-01 -1.27993128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.016296757000001 meters 0.06951509614231476 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.19, Z:-1.28 [[ 9.95684978e-01 5.32513375e-02 7.59981549e-02 1.09009229e+01] [-5.33922522e-02 9.98573601e-01 -1.77851919e-04 -1.86944919e-01] [-7.58992220e-02 -3.88062817e-03 9.97107942e-01 -1.28008285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.046296757000002 meters 0.07110162561947411 Centerline is valid? [True, True] Translation: X:10.93, Y:-0.18, Z:-1.29 [[ 9.95982188e-01 5.03773642e-02 7.40378375e-02 1.09313756e+01] [-5.05017604e-02 9.98723953e-01 -1.92151484e-04 -1.84584831e-01] [-7.39530419e-02 -3.54766168e-03 9.97255414e-01 -1.28941983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.076296757000001 meters 0.06956575815298528 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.19, Z:-1.29 [[ 9.96032687e-01 4.97147320e-02 7.38060446e-02 1.09634983e+01] [-4.98353106e-02 9.98757427e-01 -2.08105362e-04 -1.89803123e-01] [-7.37246811e-02 -3.47086742e-03 9.97272593e-01 -1.28947074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.106296757000003 meters 0.07097711390613276 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.19, Z:-1.30 [[ 9.96093409e-01 4.67392718e-02 7.49223627e-02 1.09920807e+01] [-4.68531699e-02 9.98901759e-01 -2.37673271e-04 -1.86787899e-01] [-7.48511886e-02 -3.27360541e-03 9.97189342e-01 -1.29867706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.136296757000002 meters 0.06921893582633852 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.19, Z:-1.30 [[ 9.95993542e-01 4.59130755e-02 7.67388623e-02 1.10239183e+01] [-4.60296079e-02 9.98940044e-01 -2.50426876e-04 -1.93076859e-01] [-7.66690204e-02 -3.28283619e-03 9.97051194e-01 -1.29725368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.166296757000001 meters 0.06938451118335 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.19, Z:-1.30 [[ 9.95915160e-01 4.58916339e-02 7.77621492e-02 1.10544400e+01] [-4.60115904e-02 9.98940875e-01 -2.49330701e-04 -1.93733983e-01] [-7.76912315e-02 -3.32964794e-03 9.96971908e-01 -1.30155326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.196296757000002 meters 0.06957197544456654 Centerline is valid? [True, True] Translation: X:11.09, Y:-0.19, Z:-1.31 [[ 9.95930581e-01 4.72552519e-02 7.67412460e-02 1.10862178e+01] [-4.73743149e-02 9.98877171e-01 -2.69260259e-04 -1.94313990e-01] [-7.66678026e-02 -3.36739942e-03 9.97051006e-01 -1.30525542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.226296757000002 meters 0.07025690727663485 Centerline is valid? [True, True] Translation: X:11.12, Y:-0.19, Z:-1.31 [[ 9.95981495e-01 4.93699710e-02 7.47226065e-02 1.11171686e+01] [-4.94882747e-02 9.98774669e-01 -2.68601689e-04 -1.93344761e-01] [-7.46443074e-02 -3.43037057e-03 9.97204322e-01 -1.31050783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.256296757000001 meters 0.07184791601254459 Centerline is valid? [True, True] Translation: X:11.15, Y:-0.19, Z:-1.32 [[ 9.96043526e-01 5.47415969e-02 7.00046628e-02 1.11469149e+01] [-5.48583565e-02 9.98494114e-01 -2.55003940e-04 -1.88826723e-01] [-6.99132030e-02 -3.58634572e-03 9.97546632e-01 -1.31608585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.286296757000002 meters 0.07215077326069373 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.19, Z:-1.32 [[ 9.95803586e-01 5.86493268e-02 7.02529311e-02 1.11777620e+01] [-5.87765900e-02 9.98271129e-01 -2.56082886e-04 -1.86487440e-01] [-7.01464919e-02 -3.87421947e-03 9.97529178e-01 -1.31791903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.316296757000002 meters 0.0738013790959655 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.18, Z:-1.32 [[ 9.95113817e-01 6.64162948e-02 7.30572835e-02 1.12090973e+01] [-6.65747113e-02 9.97781407e-01 -2.67310417e-04 -1.77010921e-01] [-7.29129529e-02 -4.59776327e-03 9.97327710e-01 -1.31970490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.346296757000001 meters 0.07476094421952546 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.17, Z:-1.32 [[ 9.94824947e-01 6.93323610e-02 7.42721215e-02 1.12401453e+01] [-6.95040792e-02 9.97581630e-01 -2.73289894e-04 -1.71340578e-01] [-7.41114518e-02 -4.89033981e-03 9.97237974e-01 -1.32341432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.376296757000002 meters 0.0755721878336097 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.16, Z:-1.33 [[ 9.94473088e-01 7.31693662e-02 7.52962207e-02 1.12710648e+01] [-7.33565520e-02 9.97305739e-01 -2.80386409e-04 -1.64847739e-01] [-7.51138688e-02 -5.24463439e-03 9.97161171e-01 -1.32690570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.406296757000002 meters 0.07727948449377209 Centerline is valid? [True, True] Translation: X:11.30, Y:-0.16, Z:-1.33 [[ 9.94378104e-01 7.46485843e-02 7.50984412e-02 1.13017824e+01] [-7.48395056e-02 9.97195555e-01 -2.72585135e-04 -1.60389291e-01] [-7.49081798e-02 -5.34927752e-03 9.97176088e-01 -1.33217558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.436296757000003 meters 0.07780442314426231 Centerline is valid? [True, True] Translation: X:11.33, Y:-0.16, Z:-1.34 [[ 9.94257506e-01 7.59807696e-02 7.53587049e-02 1.13337715e+01] [-7.61750903e-02 9.97094413e-01 -2.96522681e-04 -1.59282821e-01] [-7.51622736e-02 -5.44563625e-03 9.97156446e-01 -1.33551157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.466296757000002 meters 0.07663064839078035 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.16, Z:-1.34 [[ 9.93928753e-01 7.80756759e-02 7.75230510e-02 1.13657164e+01] [-7.82877867e-02 9.96930755e-01 -3.03913063e-04 -1.59692649e-01] [-7.73088419e-02 -5.76704015e-03 9.96990514e-01 -1.33623847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.496296757000001 meters 0.07690565634024546 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.16, Z:-1.34 [[ 9.93706514e-01 7.87499881e-02 7.96605489e-02 1.13975107e+01] [-7.89745851e-02 9.96876574e-01 -3.32143862e-04 -1.57574888e-01] [-7.94378914e-02 -5.96110528e-03 9.96821993e-01 -1.33927121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.526296757000003 meters 0.07676596592540297 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.15, Z:-1.34 [[ 9.93744689e-01 7.82809782e-02 7.96466077e-02 1.14290777e+01] [-7.85024851e-02 9.96913856e-01 -3.51104714e-04 -1.53817611e-01] [-7.94282916e-02 -5.90354819e-03 9.96823101e-01 -1.34395462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.556296757000002 meters 0.0774478522803466 Centerline is valid? [True, True] Translation: X:11.46, Y:-0.15, Z:-1.35 [[ 9.93773712e-01 7.78648212e-02 7.96924079e-02 1.14595616e+01] [-7.80834505e-02 9.96946756e-01 -3.73945135e-04 -1.50741351e-01] [-7.94782048e-02 -5.85104134e-03 9.96819432e-01 -1.34904580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.586296757000001 meters 0.07781458583021142 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.15, Z:-1.35 [[ 9.93877020e-01 7.71121002e-02 7.91340140e-02 1.14907380e+01] [-7.73246847e-02 9.97005892e-01 -3.78991171e-04 -1.49122245e-01] [-7.89263031e-02 -5.74234207e-03 9.96863915e-01 -1.35322529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.616296757000002 meters 0.0750002512927863 Centerline is valid? [True, True] Translation: X:11.52, Y:-0.15, Z:-1.35 [[ 9.94023053e-01 7.60223078e-02 7.83503647e-02 1.15227704e+01] [-7.62260810e-02 9.97090483e-01 -3.91037259e-04 -1.53886596e-01] [-7.81521305e-02 -5.58364120e-03 9.96925808e-01 -1.35489286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.646296757000002 meters 0.0717737734741323 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.16, Z:-1.36 [[ 9.94378741e-01 7.41328548e-02 7.55992033e-02 1.15552034e+01] [-7.43158112e-02 9.97234679e-01 -3.94063305e-04 -1.61120023e-01] [-7.54193602e-02 -5.22636795e-03 9.97138208e-01 -1.35604992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.676296757000001 meters 0.07333698032020161 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.16, Z:-1.36 [[ 9.94608216e-01 7.17365631e-02 7.48890002e-02 1.15851577e+01] [-7.19072128e-02 9.97411238e-01 -4.18614952e-04 -1.58820152e-01] [-7.47251604e-02 -4.96870140e-03 9.97191788e-01 -1.36237851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.706296757000002 meters 0.0709469690788249 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.17, Z:-1.36 [[ 9.94714124e-01 6.97405565e-02 7.53662172e-02 1.16165630e+01] [-6.99076501e-02 9.97553378e-01 -4.21951134e-04 -1.66645244e-01] [-7.52112517e-02 -4.84895439e-03 9.97155833e-01 -1.36262291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.736296757000002 meters 0.07275816700823072 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.16, Z:-1.37 [[ 9.94882781e-01 6.50832722e-02 7.72814266e-02 1.16459295e+01] [-6.52446973e-02 9.97869199e-01 -4.36932477e-04 -1.63550236e-01] [-7.71451923e-02 -4.60750669e-03 9.97009223e-01 -1.36871337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.766296757000001 meters 0.070183609980319 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.17, Z:-1.37 [[ 9.94973109e-01 6.36390510e-02 7.73213068e-02 1.16776086e+01] [-6.37964054e-02 9.97962839e-01 -4.35847298e-04 -1.67649948e-01] [-7.71915277e-02 -4.49916509e-03 9.97006131e-01 -1.36984332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.796296757000002 meters 0.07023501016954718 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.17, Z:-1.37 [[ 9.94941433e-01 6.37968860e-02 7.75983397e-02 1.17099057e+01] [-6.39562542e-02 9.97952609e-01 -4.32246787e-04 -1.65468780e-01] [-7.74670416e-02 -4.53283890e-03 9.96984609e-01 -1.37333269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.826296757000001 meters 0.07033574051730482 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.16, Z:-1.38 [[ 9.94779105e-01 6.40915262e-02 7.94154130e-02 1.17414627e+01] [-6.42578286e-02 9.97933223e-01 -4.62354579e-04 -1.63730271e-01] [-7.92809120e-02 -4.64312132e-03 9.96841501e-01 -1.37736054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.856296757000003 meters 0.07048238437017397 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.16, Z:-1.38 [[ 9.94703214e-01 6.30503900e-02 8.11798231e-02 1.17718036e+01] [-6.32184737e-02 9.97999586e-01 -5.00667308e-04 -1.64308614e-01] [-8.10489972e-02 -4.63404914e-03 9.96699346e-01 -1.38007644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.886296757000002 meters 0.06996301467007751 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.17, Z:-1.38 [[ 9.94719762e-01 6.16644819e-02 8.20371042e-02 1.18027349e+01] [-6.18313911e-02 9.98086480e-01 -5.06832554e-04 -1.67618889e-01] [-8.19113781e-02 -4.56831192e-03 9.96629147e-01 -1.38316791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.916296757000001 meters 0.06951479937589054 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.17, Z:-1.39 [[ 9.94827985e-01 5.82968374e-02 8.31790783e-02 1.18323184e+01] [-5.84563967e-02 9.98289828e-01 -5.17924205e-04 -1.70229554e-01] [-8.30670212e-02 -4.34710371e-03 9.96534481e-01 -1.38740715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.946296757000002 meters 0.0693696177713769 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.17, Z:-1.39 [[ 9.95188081e-01 5.54951186e-02 8.07525616e-02 1.18637819e+01] [-5.56369285e-02 9.98450944e-01 -4.94664044e-04 -1.72660531e-01] [-8.06549227e-02 -4.00054074e-03 9.96734056e-01 -1.39376612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.976296757000002 meters 0.0697044723500858 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.17, Z:-1.40 [[ 9.95320643e-01 5.52658399e-02 7.92622543e-02 1.18954494e+01] [-5.54002741e-02 9.98464098e-01 -5.03651949e-04 -1.73600201e-01] [-7.91683500e-02 -3.88985543e-03 9.96853671e-01 -1.39895291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.006296757000001 meters 0.06999373401654824 Centerline is valid? [True, True] Translation: X:11.93, Y:-0.17, Z:-1.40 [[ 9.95569097e-01 5.52644183e-02 7.60790148e-02 1.19260111e+01] [-5.53864001e-02 9.98464866e-01 -5.07257633e-04 -1.74157269e-01] [-7.59902566e-02 -3.70873273e-03 9.97101663e-01 -1.40438408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.036296757000002 meters 0.07127390813599616 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.17, Z:-1.41 [[ 9.95989214e-01 5.65948002e-02 6.93001792e-02 1.19549920e+01] [-5.66987631e-02 9.98391222e-01 -4.67463764e-04 -1.70917435e-01] [-6.92151466e-02 -3.46364557e-03 9.97595743e-01 -1.41213798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.066296757000002 meters 0.06963601748706595 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.18, Z:-1.41 [[ 9.96197331e-01 5.74486598e-02 6.55021260e-02 1.19858327e+01] [-5.75434221e-02 9.98342907e-01 -4.40573286e-04 -1.75678051e-01] [-6.54188933e-02 -3.33031855e-03 9.97852332e-01 -1.41207704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.096296757000001 meters 0.06937000801806298 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.18, Z:-1.41 [[ 9.96125837e-01 5.86418205e-02 6.55320801e-02 1.20181374e+01] [-5.87399479e-02 9.98273226e-01 -4.30010097e-04 -1.77182987e-01] [-6.54441376e-02 -3.42100681e-03 9.97850370e-01 -1.41480439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.126296757000002 meters 0.06937000801806298 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.18, Z:-1.42 [[ 9.96109486e-01 5.89190196e-02 6.55319831e-02 1.20505093e+01] [-5.90168161e-02 9.98256890e-01 -4.44162225e-04 -1.77493107e-01] [-6.54439233e-02 -3.42505479e-03 9.97850371e-01 -1.41857517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.156296757000002 meters 0.0693047960208496 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.18, Z:-1.42 [[ 9.95938570e-01 6.02552904e-02 6.69004095e-02 1.20831332e+01] [-6.03588241e-02 9.98176631e-01 -4.74464570e-04 -1.77236429e-01] [-6.68070144e-02 -3.56549249e-03 9.97759545e-01 -1.42051241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.186296757000003 meters 0.06784063836258193 Centerline is valid? [True, True] Translation: X:12.12, Y:-0.18, Z:-1.42 [[ 9.95717385e-01 6.10947074e-02 6.93853378e-02 1.21160123e+01] [-6.12065592e-02 9.98124988e-01 -5.14792242e-04 -1.80810558e-01] [-6.92866905e-02 -3.73425019e-03 9.97589800e-01 -1.41941442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.216296757000002 meters 0.07098951499910423 Centerline is valid? [True, True] Translation: X:12.15, Y:-0.17, Z:-1.42 [[ 9.94970586e-01 6.47753153e-02 7.64047848e-02 1.21461927e+01] [-6.49205806e-02 9.97890263e-01 -5.83579440e-04 -1.72223435e-01] [-7.62813923e-02 -4.37959861e-03 9.97076711e-01 -1.42456653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.246296757000001 meters 0.07177876317917344 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.17, Z:-1.43 [[ 9.94622619e-01 6.76085300e-02 7.84533718e-02 1.21781121e+01] [-6.77705264e-02 9.97700755e-01 -5.98864804e-04 -1.70779547e-01] [-7.83134767e-02 -4.72118182e-03 9.96917604e-01 -1.42659437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.276296757000003 meters 0.06988433014416978 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.17, Z:-1.42 [[ 9.93869212e-01 7.24464229e-02 8.35194952e-02 1.22094265e+01] [-7.26464836e-02 9.97357545e-01 -6.45155892e-04 -1.74115852e-01] [-8.33455379e-02 -5.42619706e-03 9.96505935e-01 -1.42312971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.306296757000002 meters 0.07088449397889539 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.17, Z:-1.43 [[ 9.93771597e-01 7.49408596e-02 8.24735139e-02 1.22404567e+01] [-7.51443319e-02 9.97172463e-01 -6.38493759e-04 -1.70773288e-01] [-8.22881663e-02 -5.56290014e-03 9.96593052e-01 -1.42677791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.336296757000001 meters 0.07252821506004441 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.17, Z:-1.43 [[ 9.93935585e-01 7.82888986e-02 7.72198230e-02 1.22696632e+01] [-7.84770222e-02 9.96915742e-01 -5.99981668e-04 -1.66400378e-01] [-7.70286291e-02 -5.46363864e-03 9.97013911e-01 -1.43319443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.366296757000002 meters 0.07343785023653325 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.17, Z:-1.44 [[ 9.94058498e-01 7.90626648e-02 7.48117429e-02 1.23000295e+01] [-7.92414768e-02 9.96855281e-01 -5.79742552e-04 -1.66508983e-01] [-7.46223170e-02 -5.35189498e-03 9.97197507e-01 -1.43988416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.396296757000002 meters 0.0743295674149694 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.17, Z:-1.45 [[ 9.94472739e-01 7.92647769e-02 6.88554004e-02 1.23295416e+01] [-7.94164705e-02 9.96841380e-01 -5.35827322e-04 -1.68806656e-01] [-6.86803846e-02 -4.93538721e-03 9.97626507e-01 -1.44705805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.426296757000001 meters 0.07469465701989529 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.17, Z:-1.45 [[ 9.94431668e-01 8.03802866e-02 6.81518022e-02 1.23614768e+01] [-8.05317737e-02 9.96751903e-01 -5.26144335e-04 -1.67301503e-01] [-6.79727302e-02 -4.96517092e-03 9.97674824e-01 -1.45052843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.456296757000002 meters 0.07520944943610872 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.16, Z:-1.45 [[ 9.94219846e-01 8.13649632e-02 7.00474204e-02 1.23932633e+01] [-8.15276475e-02 9.96670935e-01 -5.38046966e-04 -1.63944835e-01] [-6.98580062e-02 -5.17586443e-03 9.97543518e-01 -1.45365126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.486296757000002 meters 0.07535662926542916 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.16, Z:-1.45 [[ 9.93809802e-01 8.25200355e-02 7.43809222e-02 1.24253819e+01] [-8.27048529e-02 9.96573906e-01 -5.97205584e-04 -1.62406903e-01] [-7.41753676e-02 -5.55815447e-03 9.97229724e-01 -1.45396640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.516296757000003 meters 0.07284155649822092 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.17, Z:-1.45 [[ 9.93842278e-01 8.14821169e-02 7.50878829e-02 1.24574157e+01] [-8.16670647e-02 9.96659480e-01 -6.09187479e-04 -1.68518034e-01] [-7.48866883e-02 -5.52677072e-03 9.97176734e-01 -1.45411155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.546296757000002 meters 0.07365933531361886 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.17, Z:-1.46 [[ 9.93748344e-01 8.18160648e-02 7.59628925e-02 1.24887535e+01] [-8.20062887e-02 9.96631621e-01 -6.16929068e-04 -1.68618290e-01] [-7.57574954e-02 -5.61636265e-03 9.97110454e-01 -1.45757755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.576296757000001 meters 0.07400027414688572 Centerline is valid? [True, True] Translation: X:12.52, Y:-0.17, Z:-1.46 [[ 9.93698540e-01 8.30722752e-02 7.52476440e-02 1.25201177e+01] [-8.32619862e-02 9.96527501e-01 -6.17862074e-04 -1.68322583e-01] [-7.50376738e-02 -5.65129965e-03 9.97164686e-01 -1.46112770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.606296757000003 meters 0.07531936178437636 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.16, Z:-1.47 [[ 9.93740798e-01 8.41078860e-02 7.35193199e-02 1.25500920e+01] [-8.42899854e-02 9.96441069e-01 -6.27788329e-04 -1.63684098e-01] [-7.33104717e-02 -5.57308352e-03 9.97293595e-01 -1.46754422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.636296757000002 meters 0.0757786364336279 Centerline is valid? [True, True] Translation: X:12.58, Y:-0.16, Z:-1.47 [[ 9.93757045e-01 8.44013858e-02 7.29612383e-02 1.25817599e+01] [-8.45820895e-02 9.96416325e-01 -6.15002636e-04 -1.61048421e-01] [-7.27516760e-02 -5.56005079e-03 9.97334588e-01 -1.47240761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.666296757000001 meters 0.07665491533871475 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.16, Z:-1.48 [[ 9.93744357e-01 8.55022251e-02 7.18437368e-02 1.26133095e+01] [-8.56790354e-02 9.96322596e-01 -6.22753043e-04 -1.58523268e-01] [-7.16327852e-02 -5.53664475e-03 9.97415706e-01 -1.47736826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.696296757000002 meters 0.07344580362291683 Centerline is valid? [True, True] Translation: X:12.65, Y:-0.16, Z:-1.48 [[ 9.93608980e-01 8.70958970e-02 7.18018084e-02 1.26452110e+01] [-8.72755574e-02 9.96184005e-01 -6.37335704e-04 -1.64546929e-01] [-7.15833223e-02 -5.63328037e-03 9.97418716e-01 -1.47663448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.726296757000002 meters 0.07399706684273362 Centerline is valid? [True, True] Translation: X:12.68, Y:-0.16, Z:-1.48 [[ 9.93420223e-01 8.77443136e-02 7.36016065e-02 1.26769188e+01] [-8.79336778e-02 9.96126106e-01 -6.69926378e-04 -1.64100699e-01] [-7.33752639e-02 -5.80654154e-03 9.97287499e-01 -1.48086472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.756296757000001 meters 0.07460141539372976 Centerline is valid? [True, True] Translation: X:12.71, Y:-0.16, Z:-1.48 [[ 9.93144605e-01 8.98509291e-02 7.47703411e-02 1.27087500e+01] [-9.00502842e-02 9.95936969e-01 -7.07607464e-04 -1.59412974e-01] [-7.45301261e-02 -6.03033393e-03 9.97200529e-01 -1.48142108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.786296757000002 meters 0.07163470029699812 Centerline is valid? [True, True] Translation: X:12.74, Y:-0.16, Z:-1.48 [[ 9.92904345e-01 9.05722652e-02 7.70559902e-02 1.27408110e+01] [-9.07866363e-02 9.95870103e-01 -7.23699989e-04 -1.61348571e-01] [-7.68033041e-02 -6.27708929e-03 9.97026504e-01 -1.48081895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.816296757000002 meters 0.07235171452510385 Centerline is valid? [True, True] Translation: X:12.77, Y:-0.15, Z:-1.48 [[ 9.92641306e-01 9.29760968e-02 7.75801713e-02 1.27713961e+01] [-9.31984847e-02 9.95647262e-01 -7.57030818e-04 -1.53355128e-01] [-7.73128709e-02 -6.47889435e-03 9.96985829e-01 -1.48401289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.846296757000001 meters 0.07739170225962601 Centerline is valid? [True, True] Translation: X:12.80, Y:-0.14, Z:-1.49 [[ 9.92710704e-01 9.28735734e-02 7.68111862e-02 1.28024746e+01] [-9.30918839e-02 9.95657246e-01 -7.41256929e-04 -1.41119436e-01] [-7.65464573e-02 -6.41464434e-03 9.97045381e-01 -1.49242174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.876296757000002 meters 0.07386132060688602 Centerline is valid? [True, True] Translation: X:12.83, Y:-0.14, Z:-1.50 [[ 9.93029683e-01 9.26485886e-02 7.28579957e-02 1.28342244e+01] [-9.28428925e-02 9.95680509e-01 -7.22580232e-04 -1.44440204e-01] [-7.26102323e-02 -6.04680344e-03 9.97342063e-01 -1.49552877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.906296757000002 meters 0.07390469971836319 Centerline is valid? [True, True] Translation: X:12.87, Y:-0.14, Z:-1.50 [[ 9.93269113e-01 9.22536766e-02 7.00409068e-02 1.28657227e+01] [-9.24312213e-02 9.95718819e-01 -7.08795992e-04 -1.43883563e-01] [-6.98064380e-02 -5.76994139e-03 9.97543868e-01 -1.50089088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.936296757000003 meters 0.07426572875259178 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.14, Z:-1.51 [[ 9.93601486e-01 9.03518462e-02 6.77689523e-02 1.28966088e+01] [-9.05125168e-02 9.95895070e-01 -7.02194518e-04 -1.42107354e-01] [-6.75542100e-02 -5.43623692e-03 9.97700795e-01 -1.50645877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.966296757000002 meters 0.07359361594000027 Centerline is valid? [True, True] Translation: X:12.93, Y:-0.14, Z:-1.51 [[ 9.94030884e-01 8.67026916e-02 6.62211817e-02 1.29269413e+01] [-8.68464119e-02 9.96221459e-01 -7.10744095e-04 -1.37254268e-01] [-6.60325857e-02 -5.04457044e-03 9.97804715e-01 -1.51113257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.996296757000001 meters 0.07326494962617279 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.13, Z:-1.51 [[ 9.94181531e-01 8.57181301e-02 6.52340905e-02 1.29587956e+01] [-8.58561362e-02 9.96307306e-01 -6.90044659e-04 -1.33120892e-01] [-6.50523503e-02 -4.91471730e-03 9.97869750e-01 -1.51454431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.026296757000003 meters 0.07359654499711035 Centerline is valid? [True, True] Translation: X:12.99, Y:-0.12, Z:-1.52 [[ 9.94377160e-01 8.38588184e-02 6.46665450e-02 1.29888213e+01] [-8.39890791e-02 9.96466425e-01 -7.06315308e-04 -1.23558684e-01] [-6.44972716e-02 -4.72893975e-03 9.97906679e-01 -1.51894394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.056296757000002 meters 0.07352997671007162 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.12, Z:-1.52 [[ 9.94418769e-01 8.28245215e-02 6.53560236e-02 1.30203832e+01] [-8.29547525e-02 9.96553052e-01 -7.23221263e-04 -1.21652472e-01] [-6.51906453e-02 -4.70240796e-03 9.97861748e-01 -1.52255675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.086296757000001 meters 0.07365474064667553 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.12, Z:-1.53 [[ 9.94538664e-01 8.07812707e-02 6.60850306e-02 1.30495734e+01] [-8.09095024e-02 9.96721179e-01 -7.38062053e-04 -1.20522396e-01] [-6.59279712e-02 -4.61287569e-03 9.97813722e-01 -1.52658052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.116296757000002 meters 0.07158305179397233 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.13, Z:-1.53 [[ 9.94702105e-01 7.50902556e-02 7.02080861e-02 1.30801775e+01] [-7.52210994e-02 9.97166573e-01 -7.82060262e-04 -1.25212028e-01] [-7.00678817e-02 -4.50321243e-03 9.97532061e-01 -1.52722310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.146296757000002 meters 0.06583405685089244 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.14, Z:-1.52 [[ 9.94816445e-01 7.17313759e-02 7.20753152e-02 1.31109924e+01] [-7.18605477e-02 9.97414366e-01 -8.02635340e-04 -1.38603751e-01] [-7.19465290e-02 -4.38089679e-03 9.97398869e-01 -1.52217204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.176296757000001 meters 0.06897706577266477 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.13, Z:-1.53 [[ 9.94901826e-01 6.59105201e-02 7.63292800e-02 1.31399568e+01] [-6.60383501e-02 9.97816723e-01 -8.50839861e-04 -1.30500298e-01] [-7.62187114e-02 -4.19415759e-03 9.97082302e-01 -1.52991592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.206296757000002 meters 0.06434241221452199 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.14, Z:-1.53 [[ 9.94956708e-01 6.34004493e-02 7.77272914e-02 1.31714799e+01] [-6.35255316e-02 9.97979839e-01 -8.64772201e-04 -1.40516036e-01] [-7.76250967e-02 -4.07725661e-03 9.96974283e-01 -1.52628519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.236296757000002 meters 0.06442336554418228 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.14, Z:-1.53 [[ 9.94995639e-01 6.29635342e-02 7.75839673e-02 1.32034489e+01] [-6.30873582e-02 9.98007641e-01 -8.56387239e-04 -1.40459257e-01] [-7.74833134e-02 -4.04246597e-03 9.96985454e-01 -1.53028899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.266296757000003 meters 0.06474416034918654 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.14, Z:-1.54 [[ 9.95389056e-01 6.10217499e-02 7.40065811e-02 1.32342416e+01] [-6.11276974e-02 9.98129605e-01 -8.34710919e-04 -1.41274638e-01] [-7.39190951e-02 -3.69298978e-03 9.97257404e-01 -1.53667009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.296296757000002 meters 0.06452457106851404 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.14, Z:-1.54 [[ 9.95638789e-01 6.02112046e-02 7.12601803e-02 1.32660608e+01] [-6.03057438e-02 9.98179611e-01 -8.25973158e-04 -1.42525476e-01] [-7.11801918e-02 -3.47502726e-03 9.97457420e-01 -1.54056282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.326296757000001 meters 0.06494136251110741 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.14, Z:-1.55 [[ 9.95678182e-01 6.02894414e-02 7.06409314e-02 1.32966477e+01] [-6.03826812e-02 9.98174967e-01 -8.16706293e-04 -1.40355082e-01] [-7.05612482e-02 -3.45231221e-03 9.97501475e-01 -1.54558938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.356296757000003 meters 0.06513476750521206 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.14, Z:-1.55 [[ 9.95521914e-01 6.03723936e-02 7.27412720e-02 1.33265777e+01] [-6.04696087e-02 9.98169662e-01 -8.67060798e-04 -1.39309867e-01] [-7.26604775e-02 -3.53545823e-03 9.97350468e-01 -1.54919722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.386296757000002 meters 0.06511852180317888 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.14, Z:-1.55 [[ 9.95447023e-01 6.15009942e-02 7.28206853e-02 1.33585310e+01] [-6.16020341e-02 9.98100421e-01 -8.59737755e-04 -1.40603492e-01] [-7.27352314e-02 -3.63007895e-03 9.97344679e-01 -1.55257092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.416296757000001 meters 0.0658766023372568 Centerline is valid? [True, True] Translation: X:13.39, Y:-0.14, Z:-1.56 [[ 9.95366111e-01 6.28238688e-02 7.27974384e-02 1.33896414e+01] [-6.29270364e-02 9.98017744e-01 -8.77728429e-04 -1.38735688e-01] [-7.27082775e-02 -3.70726592e-03 9.97346360e-01 -1.55697288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.446296757000002 meters 0.06602221451633226 Centerline is valid? [True, True] Translation: X:13.42, Y:-0.14, Z:-1.56 [[ 9.95193009e-01 6.42456980e-02 7.39145813e-02 1.34216276e+01] [-6.43547886e-02 9.97926670e-01 -9.07260068e-04 -1.36914739e-01] [-7.38196195e-02 -3.85385838e-03 9.97264163e-01 -1.56035510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.476296757000002 meters 0.06741791422972139 Centerline is valid? [True, True] Translation: X:13.45, Y:-0.13, Z:-1.57 [[ 9.95099364e-01 6.71026525e-02 7.26256830e-02 1.34510151e+01] [-6.72137537e-02 9.97738178e-01 -9.15856097e-04 -1.32154323e-01] [-7.25228731e-02 -3.97007696e-03 9.97358848e-01 -1.56566950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.506296757000001 meters 0.06833772269732642 Centerline is valid? [True, True] Translation: X:13.48, Y:-0.13, Z:-1.57 [[ 9.95054988e-01 6.91350875e-02 7.13155711e-02 1.34822062e+01] [-6.92470165e-02 9.97599134e-01 -9.04630563e-04 -1.31825372e-01] [-7.12068937e-02 -4.03823337e-03 9.97453393e-01 -1.57067376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.536296757000002 meters 0.07093640622745993 Centerline is valid? [True, True] Translation: X:13.51, Y:-0.13, Z:-1.58 [[ 9.94807957e-01 7.34974832e-02 7.03935319e-02 1.35109963e+01] [-7.36171017e-02 9.97286176e-01 -8.97035182e-04 -1.29402820e-01] [-7.02684261e-02 -4.28979006e-03 9.97518895e-01 -1.57771523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.566296757000002 meters 0.07214111744784822 Centerline is valid? [True, True] Translation: X:13.54, Y:-0.13, Z:-1.58 [[ 9.94559682e-01 7.61677138e-02 7.10599567e-02 1.35421676e+01] [-7.62965517e-02 9.97084761e-01 -9.03356564e-04 -1.28015092e-01] [-7.09216065e-02 -4.52318764e-03 9.97471637e-01 -1.58145314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.596296757000003 meters 0.07373755430690804 Centerline is valid? [True, True] Translation: X:13.57, Y:-0.13, Z:-1.58 [[ 9.93697089e-01 8.09926053e-02 7.75002753e-02 1.35744839e+01] [-8.11609219e-02 9.96700528e-01 -9.80650299e-04 -1.25118365e-01] [-7.73239908e-02 -5.31552444e-03 9.96991848e-01 -1.58273048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.626296757000002 meters 0.0746227860626255 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.12, Z:-1.59 [[ 9.93290033e-01 8.33702666e-02 8.01517826e-02 1.36067469e+01] [-8.35565099e-02 9.96502505e-01 -1.03342599e-03 -1.22418614e-01] [-7.99576091e-02 -5.67071148e-03 9.96782135e-01 -1.58519086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.656296757000002 meters 0.07472459012895896 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.12, Z:-1.59 [[ 9.92784395e-01 8.80860211e-02 8.13633755e-02 1.36372577e+01] [-8.82914988e-02 9.96094099e-01 -1.07595801e-03 -1.19116312e-01] [-8.11403550e-02 -6.11550005e-03 9.96683924e-01 -1.58575195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.686296757000003 meters 0.07591737703700065 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.12, Z:-1.59 [[ 9.92683680e-01 8.97088641e-02 8.08172762e-02 1.36681786e+01] [-8.99170477e-02 9.95948686e-01 -1.06709422e-03 -1.16492777e-01] [-8.05855878e-02 -6.20756386e-03 9.96728363e-01 -1.59067642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.716296757000002 meters 0.07806730171461293 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.12, Z:-1.60 [[ 9.92693373e-01 9.19365183e-02 7.81507698e-02 1.36973908e+01] [-9.21377375e-02 9.95745734e-01 -1.03485142e-03 -1.15150353e-01] [-7.79134363e-02 -6.17334497e-03 9.96941014e-01 -1.59760186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.746296757000001 meters 0.07887369484236265 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.12, Z:-1.60 [[ 9.92879195e-01 9.21614517e-02 7.54796039e-02 1.37279269e+01] [-9.23496075e-02 9.95726141e-01 -1.00109970e-03 -1.15197637e-01] [-7.52492775e-02 -5.97654073e-03 9.97146843e-01 -1.60390151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.776296757000003 meters 0.07981062384113648 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.11, Z:-1.61 [[ 9.92918373e-01 9.25552661e-02 7.44756776e-02 1.37598782e+01] [-9.27400866e-02 9.95689869e-01 -9.80250913e-04 -1.14789317e-01] [-7.42454051e-02 -5.93357165e-03 9.97222349e-01 -1.60971149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.806296757000002 meters 0.08007183534643221 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.11, Z:-1.61 [[ 9.92570103e-01 9.45568577e-02 7.65740920e-02 1.37918740e+01] [-9.47563144e-02 9.95499962e-01 -1.03251071e-03 -1.14714003e-01] [-7.63271367e-02 -6.23103948e-03 9.97063359e-01 -1.61226180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.836296757000001 meters 0.08226757881439918 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.11, Z:-1.62 [[ 9.92088973e-01 9.69092904e-02 7.98001235e-02 1.38233131e+01] [-9.71332418e-02 9.95270801e-01 -1.07981094e-03 -1.09893537e-01] [-7.95273765e-02 -6.67997617e-03 9.96810300e-01 -1.61565197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.866296757000002 meters 0.07556372792723438 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.12, Z:-1.61 [[ 9.91937598e-01 9.75152585e-02 8.09356309e-02 1.38562544e+01] [-9.77472527e-02 9.95210663e-01 -1.10025750e-03 -1.22451047e-01] [-8.06552948e-02 -6.81984878e-03 9.96718723e-01 -1.61346287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.896296757000002 meters 0.07645276140404966 Centerline is valid? [True, True] Translation: X:13.89, Y:-0.12, Z:-1.62 [[ 9.91777497e-01 9.84874750e-02 8.17166625e-02 1.38879438e+01] [-9.87255897e-02 9.95114053e-01 -1.13137398e-03 -1.20930539e-01] [-8.14288254e-02 -6.94545443e-03 9.96654959e-01 -1.61768808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.926296757000003 meters 0.07755177981290261 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.12, Z:-1.62 [[ 9.91675550e-01 9.88759524e-02 8.24812068e-02 1.39192293e+01] [-9.91181625e-02 9.95074991e-01 -1.16304205e-03 -1.17807331e-01] [-8.21899830e-02 -7.02202529e-03 9.96591941e-01 -1.62226549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.956296757000002 meters 0.07710790197556622 Centerline is valid? [True, True] Translation: X:13.95, Y:-0.12, Z:-1.63 [[ 9.91609350e-01 9.85815397e-02 8.36216350e-02 1.39512714e+01] [-9.88279358e-02 9.95103816e-01 -1.19779044e-03 -1.18740874e-01] [-8.33302881e-02 -7.07641337e-03 9.96496858e-01 -1.62605606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.986296757000002 meters 0.0778939734032187 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.12, Z:-1.63 [[ 9.91599358e-01 9.74295655e-02 8.50775694e-02 1.39818665e+01] [-9.76781167e-02 9.95217279e-01 -1.24626470e-03 -1.18068547e-01] [-8.47920901e-02 -7.07442148e-03 9.96373551e-01 -1.62904194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.016296757000003 meters 0.0778939734032187 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.12, Z:-1.63 [[ 9.91572709e-01 9.77003540e-02 8.50776349e-02 1.40143002e+01] [-9.79502664e-02 9.95190536e-01 -1.24188620e-03 -1.18654084e-01] [-8.47897898e-02 -7.10195653e-03 9.96373551e-01 -1.63281902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.046296757 meters 0.07803840299921716 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.12, Z:-1.64 [[ 9.91778615e-01 9.66846606e-02 8.38287225e-02 1.40459189e+01] [-9.69216553e-02 9.95291232e-01 -1.24742308e-03 -1.20174423e-01] [-8.35545992e-02 -6.88765101e-03 9.96479397e-01 -1.63684097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.076296757 meters 0.0773117174554374 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.12, Z:-1.64 [[ 9.91920665e-01 9.63221975e-02 8.25556084e-02 1.40780117e+01] [-9.65491703e-02 9.95327434e-01 -1.24774652e-03 -1.23893957e-01] [-8.22900476e-02 -6.73300994e-03 9.96585679e-01 -1.64081595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.106296757000003 meters 0.0750311760771997 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.13, Z:-1.64 [[ 9.92491202e-01 9.30130646e-02 7.94341444e-02 1.41084750e+01] [-9.32105086e-02 9.95645668e-01 -1.22674012e-03 -1.28650248e-01] [-7.92023647e-02 -6.18656823e-03 9.96839361e-01 -1.64491239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.136296757000004 meters 0.07469824444633144 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.13, Z:-1.65 [[ 9.92771461e-01 9.10178492e-02 7.82341135e-02 1.41393260e+01] [-9.12031371e-02 9.95831575e-01 -1.20889043e-03 -1.28120727e-01] [-7.80180310e-02 -5.93504466e-03 9.96934282e-01 -1.65001673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.166296757 meters 0.07389160015232735 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.13, Z:-1.65 [[ 9.93151354e-01 8.62065834e-02 7.88594552e-02 1.41682989e+01] [-8.63794165e-02 9.96261562e-01 -1.22332890e-03 -1.28570273e-01] [-7.86701030e-02 -5.59688297e-03 9.96884993e-01 -1.65358606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.196296757000002 meters 0.07284792848209162 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.14, Z:-1.66 [[ 9.93432704e-01 8.06309355e-02 8.11795253e-02 1.41979369e+01] [-8.07958597e-02 9.96729878e-01 -1.25663617e-03 -1.35688628e-01] [-8.10153821e-02 -5.31058607e-03 9.96698703e-01 -1.65704302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.226296757000004 meters 0.07152439106290549 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.14, Z:-1.66 [[ 9.93566442e-01 7.81350255e-02 8.19795327e-02 1.42284250e+01] [-7.82947037e-02 9.96929449e-01 -1.27004492e-03 -1.41168844e-01] [-8.18270454e-02 -5.15668921e-03 9.96633204e-01 -1.65940772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.256296757 meters 0.071174772445158 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.14, Z:-1.66 [[ 9.93622551e-01 7.64909584e-02 8.28454004e-02 1.42592992e+01] [-7.66482925e-02 9.97057365e-01 -1.28433876e-03 -1.43610757e-01] [-8.26998569e-02 -5.07381053e-03 9.96561584e-01 -1.66286362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.286296757000002 meters 0.07127080020531411 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.14, Z:-1.67 [[ 9.93671010e-01 7.44121610e-02 8.41472160e-02 1.42884359e+01] [-7.45667093e-02 9.97215168e-01 -1.30911529e-03 -1.44528980e-01] [-8.40102942e-02 -4.97375107e-03 9.96452474e-01 -1.66751126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.316296757000003 meters 0.07188509880156978 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.14, Z:-1.67 [[ 9.93703271e-01 7.47436080e-02 8.34697627e-02 1.43188908e+01] [-7.48975757e-02 9.97190398e-01 -1.28959536e-03 -1.43043165e-01] [-8.33316349e-02 -4.97020774e-03 9.96509476e-01 -1.67281977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.346296757 meters 0.07118105809333043 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.15, Z:-1.68 [[ 9.94007657e-01 7.70718506e-02 7.75158608e-02 1.43498991e+01] [-7.72098299e-02 9.97014119e-01 -1.21989413e-03 -1.46181809e-01] [-7.73784272e-02 -4.77240232e-03 9.96990373e-01 -1.67814393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.376296757000002 meters 0.07163556106806598 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.15, Z:-1.68 [[ 9.94135138e-01 7.86216619e-02 7.42560568e-02 1.43803783e+01] [-7.87523165e-02 9.96893525e-01 -1.17136095e-03 -1.48202089e-01] [-7.41174766e-02 -4.68334541e-03 9.97238520e-01 -1.68305946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.406296757000003 meters 0.07265946246158238 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.15, Z:-1.69 [[ 9.93912081e-01 8.11290201e-02 7.45443332e-02 1.44099088e+01] [-8.12678183e-02 9.96691608e-01 -1.17443145e-03 -1.51659259e-01] [-7.43929918e-02 -4.89077371e-03 9.97217009e-01 -1.68705539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.436296757 meters 0.07303140938284867 Centerline is valid? [True, True] Translation: X:14.44, Y:-0.15, Z:-1.69 [[ 9.93642663e-01 8.31499230e-02 7.58969575e-02 1.44414626e+01] [-8.32996213e-02 9.96523829e-01 -1.19665004e-03 -1.51685837e-01] [-7.57326281e-02 -5.13314529e-03 9.97114948e-01 -1.68948673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.466296757000002 meters 0.07048514771606484 Centerline is valid? [True, True] Translation: X:14.47, Y:-0.16, Z:-1.69 [[ 9.93295747e-01 8.49760946e-02 7.83748815e-02 1.44744743e+01] [-8.51401696e-02 9.96368197e-01 -1.25180172e-03 -1.56764651e-01] [-7.81966126e-02 -5.42944138e-03 9.96923172e-01 -1.68797486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.496296757000003 meters 0.07170423192634738 Centerline is valid? [True, True] Translation: X:14.51, Y:-0.15, Z:-1.69 [[ 9.92602443e-01 8.88897946e-02 8.26982100e-02 1.45059305e+01] [-8.90837382e-02 9.96023226e-01 -1.34904789e-03 -1.52975229e-01] [-8.24892546e-02 -6.02799745e-03 9.96573723e-01 -1.69071665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.526296757 meters 0.072886835466067 Centerline is valid? [True, True] Translation: X:14.54, Y:-0.16, Z:-1.69 [[ 9.92448798e-01 9.14909637e-02 8.16993632e-02 1.45359777e+01] [-9.16869233e-02 9.95786957e-01 -1.35780131e-03 -1.56244943e-01] [-8.14793869e-02 -6.14321497e-03 9.96656094e-01 -1.69410331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.556296757000002 meters 0.08232490599063814 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.14, Z:-1.71 [[ 9.92377959e-01 9.21007089e-02 8.18745698e-02 1.45664995e+01] [-9.22996239e-02 9.95730350e-01 -1.36011401e-03 -1.40076022e-01] [-8.16502615e-02 -6.20724483e-03 9.96641713e-01 -1.70678734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.586296757000003 meters 0.0736405146809273 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.16, Z:-1.70 [[ 9.92419151e-01 9.21191229e-02 8.13529041e-02 1.45995918e+01] [-9.23141798e-02 9.95728989e-01 -1.36837306e-03 -1.59416533e-01] [-8.11314982e-02 -6.15202698e-03 9.96684420e-01 -1.70360606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.616296757 meters 0.07468482878066873 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.16, Z:-1.71 [[ 9.92409130e-01 9.28123146e-02 8.06845254e-02 1.46302633e+01] [-9.30044349e-02 9.95664735e-01 -1.38190511e-03 -1.56090870e-01] [-8.04629944e-02 -6.13260344e-03 9.96738731e-01 -1.70847962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.646296757 meters 0.07552674949901293 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.16, Z:-1.71 [[ 9.92511538e-01 9.28321442e-02 7.93916899e-02 1.46615022e+01] [-9.30167564e-02 9.95663590e-01 -1.37775169e-03 -1.55492218e-01] [-7.91753147e-02 -6.01732304e-03 9.96842546e-01 -1.71330516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.676296757000003 meters 0.07601762409137959 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.16, Z:-1.72 [[ 9.92982601e-01 9.07242877e-02 7.58594556e-02 1.46921435e+01] [-9.08851577e-02 9.95860484e-01 -1.33605932e-03 -1.60702858e-01] [-7.56666472e-02 -5.56781492e-03 9.97117625e-01 -1.71961886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.706296757 meters 0.07567275514131708 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.17, Z:-1.72 [[ 9.93311787e-01 8.80168850e-02 7.47309896e-02 1.47230804e+01] [-8.81642863e-02 9.96105059e-01 -1.33063352e-03 -1.66447595e-01] [-7.45570351e-02 -5.26687041e-03 9.97202842e-01 -1.72471295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.736296757 meters 0.0719207416821352 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.18, Z:-1.73 [[ 9.93776252e-01 8.37326529e-02 7.34683827e-02 1.47537909e+01] [-8.38632150e-02 9.96476413e-01 -1.31134181e-03 -1.81979138e-01] [-7.33193126e-02 -4.85811442e-03 9.97296685e-01 -1.72579061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.766296757000003 meters 0.0744750484576028 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.18, Z:-1.73 [[ 9.93697162e-01 8.40252886e-02 7.42004056e-02 1.47845502e+01] [-8.41598703e-02 9.96451395e-01 -1.31659324e-03 -1.76262594e-01] [-7.40477248e-02 -4.93640154e-03 9.97242481e-01 -1.73282015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.796296757 meters 0.07196292966875674 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.18, Z:-1.73 [[ 9.93425835e-01 8.41805872e-02 7.75805297e-02 1.48162615e+01] [-8.43261917e-02 9.96437216e-01 -1.40309167e-03 -1.78756322e-01] [-7.74222401e-02 -5.14820310e-03 9.96985102e-01 -1.73238944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.826296757 meters 0.0737227696063346 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.17, Z:-1.74 [[ 9.93459278e-01 8.27434939e-02 7.86903859e-02 1.48468878e+01] [-8.28886084e-02 9.96557798e-01 -1.42605802e-03 -1.74540086e-01] [-7.85375147e-02 -5.10580601e-03 9.96898084e-01 -1.73857251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.856296757000003 meters 0.0706079905065362 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.19, Z:-1.74 [[ 9.93649928e-01 7.83246945e-02 8.07778635e-02 1.48779148e+01] [-7.84628439e-02 9.96915959e-01 -1.46746587e-03 -1.88811297e-01] [-8.06436800e-02 -4.87991354e-03 9.96731049e-01 -1.73832231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.886296757000004 meters 0.07000820572004857 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.20, Z:-1.74 [[ 9.93879522e-01 7.54763452e-02 8.06648492e-02 1.49079798e+01] [-7.56045988e-02 9.97136797e-01 -1.46753574e-03 -1.95665182e-01] [-8.05446535e-02 -4.64007984e-03 9.96740201e-01 -1.74180614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.916296757 meters 0.069949329183475 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.20, Z:-1.75 [[ 9.94142827e-01 7.14525229e-02 8.10837615e-02 1.49376134e+01] [-7.15687874e-02 9.97434575e-01 -1.47526776e-03 -2.02645078e-01] [-8.09811588e-02 -4.33643963e-03 9.96706199e-01 -1.74724857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.946296757000002 meters 0.06878535174400419 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.21, Z:-1.75 [[ 9.94251756e-01 7.03425689e-02 8.07178340e-02 1.49693185e+01] [-7.04548736e-02 9.97513900e-01 -1.45950874e-03 -2.07570133e-01] [-8.06198270e-02 -4.23584567e-03 9.96735923e-01 -1.74972459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.976296757000004 meters 0.06952057796337073 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.20, Z:-1.76 [[ 9.94129311e-01 7.01726418e-02 8.23572290e-02 1.50006968e+01] [-7.02872489e-02 9.97525649e-01 -1.51044066e-03 -2.04999764e-01] [-8.22594400e-02 -4.28708973e-03 9.96601729e-01 -1.75532259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.006296757 meters 0.06969052291479147 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.21, Z:-1.76 [[ 9.94001418e-01 7.12879781e-02 8.29409714e-02 1.50321566e+01] [-7.14063550e-02 9.97446116e-01 -1.54204514e-03 -2.06966468e-01] [-8.28390791e-02 -4.38971739e-03 9.96553269e-01 -1.75959947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.036296757000002 meters 0.0705300428085717 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.21, Z:-1.76 [[ 9.94014972e-01 7.23368559e-02 8.18633883e-02 1.50627535e+01] [-7.24540230e-02 9.97370561e-01 -1.54241013e-03 -2.09018992e-01] [-8.17597066e-02 -4.39815305e-03 9.96642366e-01 -1.76460598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.066296757000003 meters 0.07073996158512588 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.22, Z:-1.77 [[ 9.94226388e-01 7.27350015e-02 7.88892204e-02 1.50932462e+01] [-7.28430604e-02 9.97342271e-01 -1.51096335e-03 -2.21012192e-01] [-7.87894542e-02 -4.24429262e-03 9.96882244e-01 -1.76961502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.096296757 meters 0.07044900048171403 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.23, Z:-1.77 [[ 9.94190824e-01 7.29713325e-02 7.91188312e-02 1.51263711e+01] [-7.30809666e-02 9.97324864e-01 -1.51288675e-03 -2.27200759e-01] [-7.90175749e-02 -4.27798253e-03 9.96864044e-01 -1.77389195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.126296757000002 meters 0.07057610027321472 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.23, Z:-1.78 [[ 9.94179908e-01 7.33729784e-02 7.88841949e-02 1.51581993e+01] [-7.34828029e-02 9.97295336e-01 -1.51364755e-03 -2.29759607e-01] [-7.87819004e-02 -4.29179376e-03 9.96882637e-01 -1.77775219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.156296757000003 meters 0.06985619178952923 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.24, Z:-1.78 [[ 9.93875071e-01 7.41906687e-02 8.19029126e-02 1.51903944e+01] [-7.43101654e-02 9.97233906e-01 -1.59248713e-03 -2.35072807e-01] [-8.17945091e-02 -4.50348573e-03 9.96639040e-01 -1.77967600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.186296757 meters 0.06995140885608499 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.24, Z:-1.78 [[ 9.93648837e-01 7.36342563e-02 8.50881042e-02 1.52217336e+01] [-7.37588668e-02 9.97274686e-01 -1.68258032e-03 -2.43678288e-01] [-8.49801079e-02 -4.60410817e-03 9.96372011e-01 -1.78259066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.216296757000002 meters 0.06860701270509191 Centerline is valid? [True, True] Translation: X:15.25, Y:-0.25, Z:-1.78 [[ 9.93655559e-01 7.23556637e-02 8.61004556e-02 1.52535648e+01] [-7.24781066e-02 9.97368543e-01 -1.70718509e-03 -2.54296265e-01] [-8.59974104e-02 -4.54404404e-03 9.96284998e-01 -1.78368218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.246296757000003 meters 0.06889341481954826 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.26, Z:-1.79 [[ 9.93552695e-01 7.07831538e-02 8.85595100e-02 1.52840903e+01] [-7.09060390e-02 9.97481444e-01 -1.76148568e-03 -2.63241627e-01] [-8.84611514e-02 -4.52927522e-03 9.96069330e-01 -1.78724620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.276296757 meters 0.06994294030725431 Centerline is valid? [True, True] Translation: X:15.31, Y:-0.26, Z:-1.79 [[ 9.93511615e-01 7.14343302e-02 8.84975009e-02 1.53148221e+01] [-7.15597902e-02 9.97434762e-01 -1.75825756e-03 -2.64327528e-01] [-8.83960837e-02 -4.58601329e-03 9.96074847e-01 -1.79200074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.306296757000002 meters 0.06848624581837232 Centerline is valid? [True, True] Translation: X:15.35, Y:-0.27, Z:-1.79 [[ 9.93572945e-01 7.29268135e-02 8.65706776e-02 1.53464353e+01] [-7.30508150e-02 9.97326704e-01 -1.73898490e-03 -2.73150677e-01] [-8.64660672e-02 -4.59625021e-03 9.96244194e-01 -1.79374756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.336296757000003 meters 0.06949215988265049 Centerline is valid? [True, True] Translation: X:15.38, Y:-0.27, Z:-1.80 [[ 9.93557062e-01 7.73315686e-02 8.28504293e-02 1.53769120e+01] [-7.74582035e-02 9.96994169e-01 -1.68952578e-03 -2.74910798e-01] [-8.27320485e-02 -4.73880514e-03 9.96560561e-01 -1.80058531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.366296757 meters 0.07094778466152661 Centerline is valid? [True, True] Translation: X:15.41, Y:-0.27, Z:-1.81 [[ 9.93541941e-01 7.98170245e-02 8.06452345e-02 1.54063030e+01] [-7.99448677e-02 9.96797925e-01 -1.64752945e-03 -2.73599667e-01] [-8.05185033e-02 -4.81028299e-03 9.96741507e-01 -1.80705769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.396296757 meters 0.0712593229820922 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.28, Z:-1.81 [[ 9.93329021e-01 8.49260517e-02 7.80065473e-02 1.54372533e+01] [-8.50613671e-02 9.96374442e-01 -1.59246544e-03 -2.79473412e-01] [-7.78589718e-02 -5.05350142e-03 9.96951575e-01 -1.81121021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.426296757000003 meters 0.07219193837649154 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.28, Z:-1.82 [[ 9.93192780e-01 8.71647818e-02 7.72683816e-02 1.54670984e+01] [-8.73039983e-02 9.96180462e-01 -1.58087705e-03 -2.80217623e-01] [-7.71110489e-02 -5.17572298e-03 9.97009076e-01 -1.81569599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.456296757 meters 0.07414603582515067 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.28, Z:-1.82 [[ 9.92895364e-01 8.99146879e-02 7.79368029e-02 1.54962792e+01] [-9.00647548e-02 9.95934635e-01 -1.59455266e-03 -2.81300378e-01] [-7.77633351e-02 -5.43613510e-03 9.96957026e-01 -1.82084823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.486296757 meters 0.07418603752357747 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.29, Z:-1.82 [[ 9.92830306e-01 9.06502343e-02 7.79135355e-02 1.55277642e+01] [-9.08031336e-02 9.95867600e-01 -1.58545549e-03 -2.85929636e-01] [-7.77352876e-02 -5.50070491e-03 9.96958859e-01 -1.82326090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.516296757000003 meters 0.0738420685601667 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.29, Z:-1.82 [[ 9.92667065e-01 9.12433869e-02 7.92889812e-02 1.55597075e+01] [-9.14022184e-02 9.95812720e-01 -1.63141626e-03 -2.93828297e-01] [-7.91058320e-02 -5.62773558e-03 9.96850338e-01 -1.82450610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.546296757000004 meters 0.07407704275223494 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.30, Z:-1.83 [[ 9.92489568e-01 9.13339133e-02 8.13791978e-02 1.55907780e+01] [-9.14998325e-02 9.95803648e-01 -1.69594673e-03 -2.95217831e-01] [-8.11925994e-02 -5.76297352e-03 9.96681770e-01 -1.82803144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.576296757 meters 0.07237271941752933 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.30, Z:-1.83 [[ 9.92413619e-01 9.13054904e-02 8.23317498e-02 1.56232071e+01] [-9.14737416e-02 9.95805979e-01 -1.73403786e-03 -3.01323464e-01] [-8.21447759e-02 -5.81031041e-03 9.96603470e-01 -1.82918286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.606296757000003 meters 0.07426286782219416 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.30, Z:-1.84 [[ 9.92622823e-01 9.07263379e-02 8.04280035e-02 1.56544325e+01] [-9.08834295e-02 9.95860064e-01 -1.71296612e-03 -3.03268259e-01] [-8.02504479e-02 -5.60924351e-03 9.96758949e-01 -1.83588971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.636296757000004 meters 0.07322131507738652 Centerline is valid? [True, True] Translation: X:15.69, Y:-0.32, Z:-1.84 [[ 9.92887888e-01 8.92735342e-02 7.87646957e-02 1.56861035e+01] [-8.94179327e-02 9.95992745e-01 -1.69885755e-03 -3.18753966e-01] [-7.86007285e-02 -5.35620117e-03 9.96891788e-01 -1.83890513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.666296757 meters 0.07308777856755347 Centerline is valid? [True, True] Translation: X:15.72, Y:-0.33, Z:-1.84 [[ 9.92845714e-01 8.85763599e-02 8.00725681e-02 1.57170303e+01] [-8.87211456e-02 9.96054958e-01 -1.75482353e-03 -3.25914242e-01] [-7.99121144e-02 -5.36186095e-03 9.96787492e-01 -1.84130556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.696296757000002 meters 0.0729234868528518 Centerline is valid? [True, True] Translation: X:15.75, Y:-0.33, Z:-1.84 [[ 9.92878092e-01 8.73753313e-02 8.09854692e-02 1.57483615e+01] [-8.75192514e-02 9.96161242e-01 -1.77774196e-03 -3.31563945e-01] [-8.08299164e-02 -5.32270660e-03 9.96713697e-01 -1.84398736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.726296757000004 meters 0.07249640106018947 Centerline is valid? [True, True] Translation: X:15.78, Y:-0.34, Z:-1.85 [[ 9.92997264e-01 8.56223295e-02 8.13956365e-02 1.57793968e+01] [-8.57616309e-02 9.96314077e-01 -1.78961998e-03 -3.35768605e-01] [-8.12488499e-02 -5.20353480e-03 9.96680263e-01 -1.84731009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.756296757 meters 0.07234755224617294 Centerline is valid? [True, True] Translation: X:15.81, Y:-0.34, Z:-1.85 [[ 9.93125032e-01 8.37000484e-02 8.18350319e-02 1.58103069e+01] [-8.38341409e-02 9.96478093e-01 -1.80217078e-03 -3.41690836e-01] [-8.16976582e-02 -5.07078868e-03 9.96644259e-01 -1.85204607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.786296757000002 meters 0.07217206711406587 Centerline is valid? [True, True] Translation: X:15.84, Y:-0.35, Z:-1.86 [[ 9.93272231e-01 8.22011296e-02 8.15674501e-02 1.58413662e+01] [-8.23291308e-02 9.96603572e-01 -1.79851076e-03 -3.50244686e-01] [-8.14382517e-02 -4.92896647e-03 9.96666201e-01 -1.85757967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.816296757000003 meters 0.07103192848309917 Centerline is valid? [True, True] Translation: X:15.87, Y:-0.36, Z:-1.86 [[ 9.93351634e-01 8.25218631e-02 8.02662593e-02 1.58735457e+01] [-8.26470561e-02 9.96577314e-01 -1.76697408e-03 -3.58200308e-01] [-8.01373471e-02 -4.87854344e-03 9.96771892e-01 -1.86036295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.846296757 meters 0.07157608719066542 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.36, Z:-1.87 [[ 9.93253563e-01 8.32292324e-02 8.07480897e-02 1.59059167e+01] [-8.33567350e-02 9.96518152e-01 -1.79653548e-03 -3.62339467e-01] [-8.06164614e-02 -4.94648185e-03 9.96732922e-01 -1.86545985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.876296757000002 meters 0.07383315158652426 Centerline is valid? [True, True] Translation: X:15.94, Y:-0.37, Z:-1.87 [[ 9.93227431e-01 8.40455332e-02 8.02223049e-02 1.59359070e+01] [-8.41717713e-02 9.96449611e-01 -1.81279588e-03 -3.68584705e-01] [-8.00898419e-02 -4.95193491e-03 9.96775349e-01 -1.87168897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.906296757000003 meters 0.07224037445135185 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.38, Z:-1.87 [[ 9.92752167e-01 8.62173183e-02 8.37240062e-02 1.59687556e+01] [-8.63620903e-02 9.96262008e-01 -1.89773941e-03 -3.79057854e-01] [-8.35746645e-02 -5.34659528e-03 9.96487175e-01 -1.87105198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.936296757 meters 0.07224037445135185 Centerline is valid? [True, True] Translation: X:16.00, Y:-0.38, Z:-1.87 [[ 9.92727988e-01 8.64957996e-02 8.37234680e-02 1.60010766e+01] [-8.66395905e-02 9.96237868e-01 -1.92114256e-03 -3.79882080e-01] [-8.35746601e-02 -5.34659499e-03 9.96487175e-01 -1.87482258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.966296757000002 meters 0.07297731407890148 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.38, Z:-1.88 [[ 9.92482146e-01 8.86960292e-02 8.43338852e-02 1.60317127e+01] [-8.88471294e-02 9.96043331e-01 -1.96716594e-03 -3.79303457e-01] [-8.41746837e-02 -5.54044654e-03 9.96435611e-01 -1.87968332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.996296757000003 meters 0.07458443716317635 Centerline is valid? [True, True] Translation: X:16.06, Y:-0.38, Z:-1.88 [[ 9.92239774e-01 9.07988525e-02 8.49458648e-02 1.60618879e+01] [-9.09596993e-02 9.95852600e-01 -1.98293213e-03 -3.76665700e-01] [-8.47736083e-02 -5.75910619e-03 9.96383595e-01 -1.88470165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.026296757 meters 0.07501010460326794 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.38, Z:-1.89 [[ 9.91872608e-01 9.40236364e-02 8.57221420e-02 1.60931101e+01] [-9.41993334e-02 9.95551343e-01 -2.00203939e-03 -3.79664798e-01] [-8.55290327e-02 -6.08920060e-03 9.96317071e-01 -1.88736609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.056296757000002 meters 0.07583176602116413 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.38, Z:-1.89 [[ 9.91736041e-01 9.53861804e-02 8.57968598e-02 1.61250457e+01] [-9.55670829e-02 9.95420971e-01 -2.00571274e-03 -3.81000105e-01] [-8.55953107e-02 -6.21021800e-03 9.96310632e-01 -1.89160875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.086296757000003 meters 0.07508706947968276 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.39, Z:-1.89 [[ 9.91581199e-01 9.72781189e-02 8.54616488e-02 1.61561909e+01] [-9.74639915e-02 9.95237033e-01 -2.00469811e-03 -3.90228537e-01] [-8.52496110e-02 -6.34161246e-03 9.96339444e-01 -1.89481904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.116296757 meters 0.07525098840970412 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.39, Z:-1.90 [[ 9.91575019e-01 9.81069761e-02 8.45813352e-02 1.61884024e+01] [-9.82918513e-02 9.95155650e-01 -1.98586741e-03 -3.93974645e-01] [-8.43664210e-02 -6.34451950e-03 9.96414599e-01 -1.89853536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.146296757 meters 0.07871350555633937 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.39, Z:-1.90 [[ 9.91450170e-01 9.94870556e-02 8.44327360e-02 1.62186510e+01] [-9.96756512e-02 9.95017993e-01 -1.98938400e-03 -3.90083060e-01] [-8.42100095e-02 -6.44351284e-03 9.96427195e-01 -1.90477693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.176296757000003 meters 0.07925819972199323 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.39, Z:-1.91 [[ 9.91517432e-01 9.95852346e-02 8.35222280e-02 1.62501936e+01] [-9.97703903e-02 9.95008548e-01 -1.96448887e-03 -3.92536206e-01] [-8.33009649e-02 -6.38522032e-03 9.96503978e-01 -1.91035074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.206296757 meters 0.07707358584192132 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.40, Z:-1.91 [[ 9.91522815e-01 9.94546710e-02 8.36138481e-02 1.62823348e+01] [-9.96381691e-02 9.95021754e-01 -1.98583394e-03 -3.98435580e-01] [-8.33950983e-02 -6.36213108e-03 9.96496252e-01 -1.91348962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.236296757 meters 0.07656171659621429 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.40, Z:-1.92 [[ 9.91670864e-01 9.79307364e-02 8.36568518e-02 1.63139482e+01] [-9.81068636e-02 9.95173850e-01 -2.01286286e-03 -4.02779540e-01] [-8.34502324e-02 -6.21121390e-03 9.96492589e-01 -1.91634076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.266296757000003 meters 0.07642262451046693 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.41, Z:-1.92 [[ 9.91732188e-01 9.62453209e-02 8.48770021e-02 1.63446294e+01] [-9.64200628e-02 9.95338625e-01 -2.04773289e-03 -4.07067526e-01] [-8.46784433e-02 -6.15304326e-03 9.96389332e-01 -1.91890567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.296296757000004 meters 0.07632757417952546 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.42, Z:-1.92 [[ 9.92100728e-01 9.33481592e-02 8.37989612e-02 1.63740220e+01] [-9.35080294e-02 9.95616469e-01 -2.02366020e-03 -4.15745013e-01] [-8.36205308e-02 -5.82820097e-03 9.96480626e-01 -1.92242259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.326296757 meters 0.07750401080946477 Centerline is valid? [True, True] Translation: X:16.41, Y:-0.42, Z:-1.93 [[ 9.92193535e-01 9.28471221e-02 8.32550395e-02 1.64052466e+01] [-9.30037850e-02 9.95663740e-01 -2.00298585e-03 -4.15280578e-01] [-8.30799955e-02 -5.75568419e-03 9.96526260e-01 -1.92841990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.356296757000003 meters 0.07679416243743255 Centerline is valid? [True, True] Translation: X:16.44, Y:-0.42, Z:-1.93 [[ 9.92095028e-01 9.30289674e-02 8.42203486e-02 1.64367113e+01] [-9.31882750e-02 9.95646402e-01 -2.04620848e-03 -4.17994651e-01] [-8.40440437e-02 -5.81831575e-03 9.96445054e-01 -1.93199863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.386296757000004 meters 0.07827702302403466 Centerline is valid? [True, True] Translation: X:16.47, Y:-0.41, Z:-1.94 [[ 9.91866270e-01 9.50932067e-02 8.46084152e-02 1.64669088e+01] [-9.52592140e-02 9.95450324e-01 -2.08208712e-03 -4.14885885e-01] [-8.44214667e-02 -5.99457914e-03 9.96412104e-01 -1.93583046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.416296757 meters 0.07787143112068566 Centerline is valid? [True, True] Translation: X:16.50, Y:-0.42, Z:-1.94 [[ 9.91666786e-01 9.60247415e-02 8.58850051e-02 1.64997704e+01] [-9.61998139e-02 9.95359811e-01 -2.10756575e-03 -4.17403750e-01] [-8.56888609e-02 -6.17211855e-03 9.96302827e-01 -1.93803460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.446296757000002 meters 0.07878764058995676 Centerline is valid? [True, True] Translation: X:16.53, Y:-0.42, Z:-1.94 [[ 9.91464628e-01 9.70396045e-02 8.70701221e-02 1.65312439e+01] [-9.72210657e-02 9.95260459e-01 -2.16415777e-03 -4.20385031e-01] [-8.68674587e-02 -6.31936418e-03 9.96199835e-01 -1.93963901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.476296757000004 meters 0.07891351860713768 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.42, Z:-1.94 [[ 9.91453646e-01 9.64946887e-02 8.77977418e-02 1.65635421e+01] [-9.66761270e-02 9.95313476e-01 -2.19328518e-03 -4.22182204e-01] [-8.75979160e-02 -6.31340505e-03 9.96135907e-01 -1.94385529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.506296757 meters 0.07907305889797425 Centerline is valid? [True, True] Translation: X:16.59, Y:-0.42, Z:-1.95 [[ 9.91457912e-01 9.71840972e-02 8.69853969e-02 1.65949683e+01] [-9.73641314e-02 9.95246437e-01 -2.18068805e-03 -4.23254459e-01] [-8.67838346e-02 -6.30719720e-03 9.96207200e-01 -1.94854945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.536296757000002 meters 0.0792791242337619 Centerline is valid? [True, True] Translation: X:16.63, Y:-0.42, Z:-1.96 [[ 9.91793704e-01 9.58901636e-02 8.45595940e-02 1.66252250e+01] [-9.60539385e-02 9.95373832e-01 -2.13894359e-03 -4.24055699e-01] [-8.43735107e-02 -6.00089125e-03 9.96416128e-01 -1.95622611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.566296757000003 meters 0.07904736793281576 Centerline is valid? [True, True] Translation: X:16.66, Y:-0.43, Z:-1.96 [[ 9.91957881e-01 9.51233752e-02 8.34931433e-02 1.66571068e+01] [-9.52789166e-02 9.95448339e-01 -2.12872169e-03 -4.27090130e-01] [-8.33156021e-02 -5.84353398e-03 9.96506078e-01 -1.96028536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.596296757 meters 0.07901171020726028 Centerline is valid? [True, True] Translation: X:16.69, Y:-0.43, Z:-1.96 [[ 9.92085732e-01 9.27405544e-02 8.46468532e-02 1.66867219e+01] [-9.28896045e-02 9.95674018e-01 -2.18447692e-03 -4.34092141e-01] [-8.44832620e-02 -5.69562434e-03 9.96408620e-01 -1.96332868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.626296757000002 meters 0.07838401759600126 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.44, Z:-1.97 [[ 9.92185058e-01 9.07886396e-02 8.55934179e-02 1.67177444e+01] [-9.09338895e-02 9.95854483e-01 -2.20843194e-03 -4.38482715e-01] [-8.54390894e-02 -5.59216924e-03 9.96327702e-01 -1.96628182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.656296757000003 meters 0.07234752706088246 Centerline is valid? [True, True] Translation: X:16.75, Y:-0.46, Z:-1.96 [[ 9.92315098e-01 8.99012920e-02 8.50206120e-02 1.67506148e+01] [-9.00415451e-02 9.95935599e-01 -2.19138008e-03 -4.56064292e-01] [-8.48720620e-02 -5.48084773e-03 9.96376783e-01 -1.96277345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.686296757 meters 0.0781882385024163 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.44, Z:-1.97 [[ 9.92441639e-01 8.91442787e-02 8.43379527e-02 1.67815841e+01] [-8.92789019e-02 9.96004276e-01 -2.18149674e-03 -4.43236324e-01] [-8.41954295e-02 -5.36459161e-03 9.96434820e-01 -1.97373211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.716296757000002 meters 0.07259420542938415 Centerline is valid? [True, True] Translation: X:16.81, Y:-0.46, Z:-1.97 [[ 9.92365653e-01 8.97523483e-02 8.45868054e-02 1.68135399e+01] [-8.98881675e-02 9.95949415e-01 -2.20919489e-03 -4.57146228e-01] [-8.44424597e-02 -5.41102381e-03 9.96413665e-01 -1.96999956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.746296757000003 meters 0.07363628197128444 Centerline is valid? [True, True] Translation: X:16.84, Y:-0.45, Z:-1.97 [[ 9.92210101e-01 9.19936942e-02 8.40016376e-02 1.68435207e+01] [-9.21336360e-02 9.95744182e-01 -2.21735598e-03 -4.53269149e-01] [-8.38481247e-02 -5.53929330e-03 9.96463149e-01 -1.97400378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.776296757 meters 0.07406335491168142 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.45, Z:-1.98 [[ 9.92078597e-01 9.32116810e-02 8.42118776e-02 1.68749994e+01] [-9.33562393e-02 9.95630277e-01 -2.22824672e-03 -4.51641572e-01] [-8.40515936e-02 -5.65110832e-03 9.96445380e-01 -1.97841219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.806296757000002 meters 0.07478019924703531 Centerline is valid? [True, True] Translation: X:16.91, Y:-0.45, Z:-1.98 [[ 9.91983933e-01 9.46557808e-02 8.37147478e-02 1.69062353e+01] [-9.48031554e-02 9.95493558e-01 -2.22198643e-03 -4.49964107e-01] [-8.35478160e-02 -5.73224740e-03 9.96487282e-01 -1.98336882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.836296757000003 meters 0.08339202639227818 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.43, Z:-2.00 [[ 9.91911939e-01 9.58191137e-02 8.32430291e-02 1.69366757e+01] [-9.59673608e-02 9.95381988e-01 -2.22780091e-03 -4.32945532e-01] [-8.30720778e-02 -5.77883149e-03 9.96526786e-01 -1.99653993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.866296757 meters 0.07604059653331734 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.45, Z:-1.99 [[ 9.91901333e-01 9.58355649e-02 8.33504104e-02 1.69690646e+01] [-9.59827631e-02 9.95380457e-01 -2.24855137e-03 -4.50656240e-01] [-8.31808608e-02 -5.76986160e-03 9.96517764e-01 -1.99252491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.896296757 meters 0.0747848927549121 Centerline is valid? [True, True] Translation: X:17.00, Y:-0.45, Z:-2.00 [[ 9.91990067e-01 9.26641661e-02 8.58432249e-02 1.69994610e+01] [-9.28061924e-02 9.95681434e-01 -2.34344344e-03 -4.52838425e-01] [-8.56896586e-02 -5.64211024e-03 9.96305901e-01 -1.99567978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.926296757000003 meters 0.07528391325668925 Centerline is valid? [True, True] Translation: X:17.03, Y:-0.45, Z:-2.00 [[ 9.92051768e-01 9.06725827e-02 8.72454675e-02 1.70294357e+01] [-9.08115520e-02 9.95865243e-01 -2.38308004e-03 -4.50800548e-01] [-8.71008088e-02 -5.55875754e-03 9.96183994e-01 -1.99997006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.956296757 meters 0.07170272389973038 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.46, Z:-2.00 [[ 9.92213510e-01 8.84753058e-02 8.76611166e-02 1.70614247e+01] [-8.86072778e-02 9.96063767e-01 -2.39226067e-03 -4.60621517e-01] [-8.75277180e-02 -5.39377956e-03 9.96147482e-01 -1.99996038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.986296757 meters 0.07312014571150856 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.46, Z:-2.01 [[ 9.92937949e-01 8.16838888e-02 8.60347101e-02 1.70905490e+01] [-8.17848077e-02 9.96647224e-01 -2.35697632e-03 -4.60968911e-01] [-8.59387820e-02 -4.69600098e-03 9.96289352e-01 -2.00709654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.016296757000003 meters 0.07001676334623216 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.47, Z:-2.01 [[ 9.93848846e-01 7.37032456e-02 8.26577430e-02 1.71215156e+01] [-7.37689490e-02 9.97272792e-01 -2.26302731e-03 -4.74002432e-01] [-8.25991106e-02 -3.84846775e-03 9.96575424e-01 -2.00804381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.046296757000004 meters 0.070830349979822 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.47, Z:-2.01 [[ 9.94078614e-01 7.15046884e-02 8.18216843e-02 1.71526900e+01] [-7.15621822e-02 9.97433640e-01 -2.23347517e-03 -4.72512537e-01] [-8.17714043e-02 -3.63508837e-03 9.96644482e-01 -2.01449635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.076296757 meters 0.07068729717766374 Centerline is valid? [True, True] Translation: X:17.18, Y:-0.47, Z:-2.02 [[ 9.94186425e-01 7.01282096e-02 8.17030420e-02 1.71842521e+01] [-7.01792690e-02 9.97531858e-01 -2.25018069e-03 -4.73888661e-01] [-8.16591884e-02 -3.49676067e-03 9.96654178e-01 -2.01870587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.106296757000003 meters 0.07065192807120034 Centerline is valid? [True, True] Translation: X:17.22, Y:-0.47, Z:-2.02 [[ 9.94131550e-01 6.92923377e-02 8.30724613e-02 1.72155815e+01] [-6.93400617e-02 9.97590398e-01 -2.31397655e-03 -4.74115677e-01] [-8.30326305e-02 -3.45985249e-03 9.96540823e-01 -2.02182589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.136296757000004 meters 0.07005092579099464 Centerline is valid? [True, True] Translation: X:17.25, Y:-0.47, Z:-2.02 [[ 9.93848708e-01 7.09617906e-02 8.50245265e-02 1.72486362e+01] [-7.10182711e-02 9.97472214e-01 -2.36399293e-03 -4.73538547e-01] [-8.49773559e-02 -3.68884356e-03 9.96376054e-01 -2.02259144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.166296757 meters 0.07079578563268345 Centerline is valid? [True, True] Translation: X:17.28, Y:-0.47, Z:-2.03 [[ 9.93711157e-01 7.31257860e-02 8.47983265e-02 1.72796068e+01] [-7.31877263e-02 9.97315337e-01 -2.38221454e-03 -4.69762759e-01] [-8.47448729e-02 -3.83896354e-03 9.96395287e-01 -2.02705339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.196296757000002 meters 0.07135800323228542 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.47, Z:-2.03 [[ 9.93680952e-01 7.44489124e-02 8.39971677e-02 1.73112496e+01] [-7.45124583e-02 9.97217237e-01 -2.38255801e-03 -4.68728679e-01] [-8.39408023e-02 -3.89133294e-03 9.96463145e-01 -2.03151369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.226296757000004 meters 0.07268386929042947 Centerline is valid? [True, True] Translation: X:17.34, Y:-0.46, Z:-2.04 [[ 9.93553189e-01 7.82495429e-02 8.20309086e-02 1.73406275e+01] [-7.83223818e-02 9.96925351e-01 -2.33449515e-03 -4.64102390e-01] [-8.19613655e-02 -4.10541105e-03 9.96627052e-01 -2.03586402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.256296757 meters 0.07338037719949542 Centerline is valid? [True, True] Translation: X:17.37, Y:-0.46, Z:-2.04 [[ 9.93353212e-01 8.07143170e-02 8.20645787e-02 1.73717488e+01] [-8.07957267e-02 9.96727949e-01 -2.33378406e-03 -4.62162734e-01] [-8.19844290e-02 -4.31219538e-03 9.96624281e-01 -2.04072598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.286296757000002 meters 0.07428100803020608 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.46, Z:-2.05 [[ 9.93174410e-01 8.26588118e-02 8.22928494e-02 1.74037734e+01] [-8.27471878e-02 9.96567819e-01 -2.34190913e-03 -4.59077467e-01] [-8.22039848e-02 -4.48357764e-03 9.96605440e-01 -2.04619077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.316296757000003 meters 0.07638428308405634 Centerline is valid? [True, True] Translation: X:17.43, Y:-0.45, Z:-2.05 [[ 9.92967684e-01 8.72894133e-02 7.99733551e-02 1.74336991e+01] [-8.73872878e-02 9.96171800e-01 -2.28199908e-03 -4.50796481e-01] [-7.98663954e-02 -4.72270326e-03 9.96794390e-01 -2.05331367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.346296757 meters 0.07387191571736776 Centerline is valid? [True, True] Translation: X:17.47, Y:-0.46, Z:-2.05 [[ 9.92895048e-01 8.85994243e-02 7.94327758e-02 1.74660273e+01] [-8.87000107e-02 9.96055803e-01 -2.26819870e-03 -4.55923780e-01] [-7.93204384e-02 -4.79360481e-03 9.96837644e-01 -2.05397694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.376296757000002 meters 0.07430529424975522 Centerline is valid? [True, True] Translation: X:17.50, Y:-0.45, Z:-2.06 [[ 9.92728916e-01 8.99038508e-02 8.00412201e-02 1.74974231e+01] [-9.00102036e-02 9.95938220e-01 -2.28568875e-03 -4.54585382e-01] [-7.99216025e-02 -4.93545720e-03 9.96788934e-01 -2.05793571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.406296757000003 meters 0.0779742882639753 Centerline is valid? [True, True] Translation: X:17.53, Y:-0.45, Z:-2.07 [[ 9.92474389e-01 9.08554916e-02 8.20966966e-02 1.75282956e+01] [-9.09690883e-02 9.95850912e-01 -2.36347919e-03 -4.45271779e-01] [-8.19708052e-02 -5.12256907e-03 9.96621566e-01 -2.06621221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.436296757 meters 0.07439761619949241 Centerline is valid? [True, True] Translation: X:17.56, Y:-0.45, Z:-2.06 [[ 9.92296885e-01 8.94472106e-02 8.57093240e-02 1.75591191e+01] [-8.95635846e-02 9.95977983e-01 -2.49431865e-03 -4.53676495e-01] [-8.55877095e-02 -5.20132966e-03 9.96317063e-01 -2.06216134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.466296757000002 meters 0.07761390164847268 Centerline is valid? [True, True] Translation: X:17.59, Y:-0.45, Z:-2.07 [[ 9.92307340e-01 8.90435035e-02 8.60081205e-02 1.75904808e+01] [-8.91597922e-02 9.96014207e-01 -2.49602410e-03 -4.45882033e-01] [-8.58875647e-02 -5.19164311e-03 9.96291309e-01 -2.06895697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.496296757000003 meters 0.07785775853681075 Centerline is valid? [True, True] Translation: X:17.62, Y:-0.45, Z:-2.07 [[ 9.92400635e-01 8.94942000e-02 8.44497964e-02 1.76222666e+01] [-8.96062109e-02 9.95974208e-01 -2.47074967e-03 -4.45188958e-01] [-8.43309368e-02 -5.11525272e-03 9.96424672e-01 -2.07363091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.526296757 meters 0.07578860243412326 Centerline is valid? [True, True] Translation: X:17.65, Y:-0.45, Z:-2.08 [[ 9.92414582e-01 9.06197148e-02 8.30744536e-02 1.76546092e+01] [-9.07300799e-02 9.95872498e-01 -2.45355103e-03 -4.49186316e-01] [-8.29539037e-02 -5.10241199e-03 9.96540323e-01 -2.07500058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.556296757000002 meters 0.0738857897120651 Centerline is valid? [True, True] Translation: X:17.69, Y:-0.45, Z:-2.08 [[ 9.92422912e-01 9.31308070e-02 8.01462251e-02 1.76855917e+01] [-9.32410861e-02 9.95640731e-01 -2.37359469e-03 -4.52418698e-01] [-8.00179009e-02 -5.11731132e-03 9.96780291e-01 -2.07708208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.586296757000003 meters 0.07823345996408704 Centerline is valid? [True, True] Translation: X:17.72, Y:-0.44, Z:-2.08 [[ 9.92271047e-01 9.52136206e-02 7.95772283e-02 1.77156687e+01] [-9.53288254e-02 9.95443043e-01 -2.35875035e-03 -4.39481635e-01] [-7.94391835e-02 -5.24548403e-03 9.96825913e-01 -2.08481109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.616296757 meters 0.07869784640273064 Centerline is valid? [True, True] Translation: X:17.75, Y:-0.44, Z:-2.09 [[ 9.92129609e-01 9.73196801e-02 7.87890748e-02 1.77465482e+01] [-9.74390860e-02 9.95238747e-01 -2.33679872e-03 -4.36386863e-01] [-7.86413566e-02 -5.35872823e-03 9.96888570e-01 -2.08757815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.646296757 meters 0.07917429341242066 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.43, Z:-2.09 [[ 9.91837440e-01 9.93040971e-02 7.99824334e-02 1.77791125e+01] [-9.94336174e-02 9.95041371e-01 -2.37177588e-03 -4.32376477e-01] [-7.98213572e-02 -5.60052656e-03 9.96793452e-01 -2.08996944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.676296757000003 meters 0.07610720652528113 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.44, Z:-2.09 [[ 9.91679599e-01 1.00459198e-01 8.04954759e-02 1.78118245e+01] [-1.00594247e-01 9.94924672e-01 -2.38611866e-03 -4.36737866e-01] [-8.03266426e-02 -5.73111659e-03 9.96752118e-01 -2.08946027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.706296757000004 meters 0.0803688864066054 Centerline is valid? [True, True] Translation: X:17.84, Y:-0.42, Z:-2.10 [[ 9.91713757e-01 1.01485593e-01 7.87686432e-02 1.78418150e+01] [-1.01615964e-01 9.94820897e-01 -2.36183921e-03 -4.22823956e-01] [-7.86003849e-02 -5.66188320e-03 9.96890126e-01 -2.09723100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.736296757 meters 0.07929566550714322 Centerline is valid? [True, True] Translation: X:17.87, Y:-0.42, Z:-2.10 [[ 9.91933606e-01 1.01728032e-01 7.56249276e-02 1.78728388e+01] [-1.01848829e-01 9.94797303e-01 -2.26771741e-03 -4.19238240e-01] [-7.54621645e-02 -5.45288518e-03 9.97133756e-01 -2.10027340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.766296757000003 meters 0.0821397766652652 Centerline is valid? [True, True] Translation: X:17.90, Y:-0.41, Z:-2.11 [[ 9.91909427e-01 1.02118441e-01 7.54155992e-02 1.79034127e+01] [-1.02239679e-01 9.94757223e-01 -2.26153541e-03 -4.09684624e-01] [-7.52511565e-02 -5.46722835e-03 9.97149624e-01 -2.10778052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.796296757000004 meters 0.08269452660883554 Centerline is valid? [True, True] Translation: X:17.93, Y:-0.41, Z:-2.11 [[ 9.92031834e-01 1.02538189e-01 7.32035560e-02 1.79341512e+01] [-1.02652533e-01 9.94714823e-01 -2.20858171e-03 -4.06058579e-01] [-7.30431262e-02 -5.32354707e-03 9.97314575e-01 -2.11235543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.826296757 meters 0.08269452660883554 Centerline is valid? [True, True] Translation: X:17.97, Y:-0.41, Z:-2.12 [[ 9.92005824e-01 1.02789317e-01 7.32038283e-02 1.79665094e+01] [-1.02904999e-01 9.94688757e-01 -2.19960913e-03 -4.07164180e-01] [-7.30411213e-02 -5.35101481e-03 9.97314575e-01 -2.11612572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.856296757000003 meters 0.08311344846431355 Centerline is valid? [True, True] Translation: X:18.00, Y:-0.40, Z:-2.12 [[ 9.92303377e-01 1.01664077e-01 7.06995248e-02 1.79985667e+01] [-1.01767834e-01 9.94805870e-01 -2.14223435e-03 -4.02720284e-01] [-7.05500906e-02 -5.06919111e-03 9.97495357e-01 -2.12123236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.886296757000004 meters 0.08258945435985238 Centerline is valid? [True, True] Translation: X:18.03, Y:-0.40, Z:-2.13 [[ 9.92599379e-01 9.88584534e-02 7.05228920e-02 1.80285402e+01] [-9.89527132e-02 9.95089783e-01 -2.16433497e-03 -4.02147625e-01] [-7.03905721e-02 -4.83011396e-03 9.97507813e-01 -2.12514788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.916296757 meters 0.07723637813159175 Centerline is valid? [True, True] Translation: X:18.06, Y:-0.41, Z:-2.12 [[ 9.93152698e-01 9.24528198e-02 7.14156473e-02 1.80595023e+01] [-9.25330585e-02 9.95707202e-01 -2.19114230e-03 -4.09381332e-01] [-7.13116517e-02 -4.43216938e-03 9.97444236e-01 -2.12272476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.946296757000002 meters 0.07958865550520038 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.40, Z:-2.13 [[ 9.93596364e-01 8.87673655e-02 6.99043713e-02 1.80883223e+01] [-8.88349858e-02 9.96044043e-01 -2.14703063e-03 -4.04223019e-01] [-6.98184188e-02 -4.07667200e-03 9.97551387e-01 -2.13118975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.976296757000004 meters 0.07818311464362418 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.41, Z:-2.13 [[ 9.93887918e-01 8.47991422e-02 7.06817669e-02 1.81183885e+01] [-8.48584441e-02 9.96390657e-01 -2.16874540e-03 -4.06625574e-01] [-7.06105599e-02 -3.84245491e-03 9.97496559e-01 -2.13408100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.006296757 meters 0.07726512292009717 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.41, Z:-2.14 [[ 9.94316501e-01 8.03152158e-02 6.98867838e-02 1.81480535e+01] [-8.03620983e-02 9.96763428e-01 -2.14503341e-03 -4.06868632e-01] [-6.98328690e-02 -3.48340647e-03 9.97552623e-01 -2.13840686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.036296757000002 meters 0.07156634508210453 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.42, Z:-2.13 [[ 9.94476918e-01 7.88667639e-02 6.92509362e-02 1.81807169e+01] [-7.89100716e-02 9.96879496e-01 -2.11426772e-03 -4.20891054e-01] [-6.92015838e-02 -3.36200589e-03 9.97597032e-01 -2.12921777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.066296757000003 meters 0.07153920915613539 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.42, Z:-2.13 [[ 9.94715423e-01 7.60684120e-02 6.89552282e-02 1.82111449e+01] [-7.61028260e-02 9.97097696e-01 -2.13158076e-03 -4.17551779e-01] [-6.89172451e-02 -3.12737147e-03 9.97617478e-01 -2.13339184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.096296757 meters 0.0708772213212732 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.42, Z:-2.14 [[ 9.94815259e-01 7.49096534e-02 6.87833211e-02 1.82435377e+01] [-7.49416285e-02 9.97185671e-01 -2.11908111e-03 -4.18780122e-01] [-6.87484818e-02 -3.04663987e-03 9.97629372e-01 -2.13583400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.126296757000002 meters 0.07084953746868904 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.42, Z:-2.14 [[ 9.95221125e-01 7.06694225e-02 6.73850438e-02 1.82734823e+01] [-7.06886328e-02 9.97496214e-01 -2.10225686e-03 -4.19076505e-01] [-6.73648913e-02 -2.67114617e-03 9.97724830e-01 -2.14095094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.156296757000003 meters 0.07064510800355239 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.42, Z:-2.14 [[ 9.95413241e-01 6.90700234e-02 6.61952535e-02 1.83052173e+01] [-6.90856533e-02 9.97608614e-01 -2.05567860e-03 -4.20796436e-01] [-6.61789409e-02 -2.52689264e-03 9.97804571e-01 -2.14436065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.186296757 meters 0.06997252828977917 Centerline is valid? [True, True] Translation: X:18.34, Y:-0.43, Z:-2.15 [[ 9.95645785e-01 6.58880896e-02 6.59411154e-02 1.83363624e+01] [-6.58949848e-02 9.97824411e-01 -2.07276346e-03 -4.25015293e-01] [-6.59342250e-02 -2.28145059e-03 9.97821363e-01 -2.14743116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.216296757000002 meters 0.07000451792901337 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.43, Z:-2.15 [[ 9.95745039e-01 6.52887470e-02 6.50322717e-02 1.83684383e+01] [-6.52946842e-02 9.97863947e-01 -2.03635583e-03 -4.26779055e-01] [-6.50263105e-02 -2.21857043e-03 9.97881084e-01 -2.15105901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.246296757000003 meters 0.06994387118237104 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.43, Z:-2.16 [[ 9.95729651e-01 6.50042526e-02 6.55508204e-02 1.84004402e+01] [-6.50086583e-02 9.97882557e-01 -2.06803254e-03 -4.27644878e-01] [-6.55464512e-02 -2.20216957e-03 9.97847089e-01 -2.15539448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.276296757 meters 0.07073373708097208 Centerline is valid? [True, True] Translation: X:18.43, Y:-0.43, Z:-2.16 [[ 9.95776873e-01 6.62944325e-02 6.35095818e-02 1.84305522e+01] [-6.62995969e-02 9.97797699e-01 -2.02846392e-03 -4.27122720e-01] [-6.35041905e-02 -2.19076221e-03 9.97979167e-01 -2.16075877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.306296757000002 meters 0.06967250595841337 Centerline is valid? [True, True] Translation: X:18.46, Y:-0.43, Z:-2.16 [[ 9.95770649e-01 6.67666696e-02 6.31112243e-02 1.84631031e+01] [-6.67733828e-02 9.97766152e-01 -2.00516240e-03 -4.32151139e-01] [-6.31041215e-02 -2.21746807e-03 9.98004485e-01 -2.15959425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.336296757000003 meters 0.0699435326963028 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.43, Z:-2.16 [[ 9.95498982e-01 6.92548999e-02 6.46957086e-02 1.84944735e+01] [-6.92662125e-02 9.97596062e-01 -2.07079185e-03 -4.33467755e-01] [-6.46835966e-02 -2.41975551e-03 9.97902890e-01 -2.16422371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.366296757 meters 0.070475150515449 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.43, Z:-2.17 [[ 9.95361611e-01 7.13130138e-02 6.45733470e-02 1.85250374e+01] [-7.13270998e-02 9.97450789e-01 -2.09010215e-03 -4.31335657e-01] [-6.45577874e-02 -2.52542212e-03 9.97910775e-01 -2.16839556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.396296757 meters 0.07190624951410955 Centerline is valid? [True, True] Translation: X:18.55, Y:-0.43, Z:-2.17 [[ 9.94829540e-01 7.75536061e-02 6.55715243e-02 1.85544178e+01] [-7.75809251e-02 9.96983776e-01 -2.13340987e-03 -4.25801413e-01] [-6.55391995e-02 -2.96472036e-03 9.97845591e-01 -2.17337901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.426296757000003 meters 0.07281800462512515 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.43, Z:-2.18 [[ 9.94548738e-01 8.11617017e-02 6.54643853e-02 1.85853106e+01] [-8.11964245e-02 9.96695834e-01 -2.13441869e-03 -4.25225010e-01] [-6.54213132e-02 -3.19269061e-03 9.97852624e-01 -2.17725712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.456296757000004 meters 0.0734985074823951 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.43, Z:-2.18 [[ 9.94193197e-01 8.43154010e-02 6.68640495e-02 1.86167633e+01] [-8.43588185e-02 9.96433060e-01 -2.17889217e-03 -4.26239451e-01] [-6.68092636e-02 -3.47433244e-03 9.97759716e-01 -2.18018557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.486296757 meters 0.07787313216042728 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.42, Z:-2.19 [[ 9.93401089e-01 9.11686910e-02 6.95884090e-02 1.86463299e+01] [-9.12315227e-02 9.95827096e-01 -2.28139760e-03 -4.20188185e-01] [-6.95060152e-02 -4.08231365e-03 9.97573180e-01 -2.18724055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.516296757000003 meters 0.07905148384208037 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.42, Z:-2.19 [[ 9.92950454e-01 9.42720487e-02 7.18482875e-02 1.86786663e+01] [-9.43474031e-02 9.95536557e-01 -2.35181721e-03 -4.17865869e-01] [-7.17493074e-02 -4.44346137e-03 9.97412799e-01 -2.19045385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.546296757000004 meters 0.0824188758729789 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.41, Z:-2.19 [[ 9.92337391e-01 1.00326053e-01 7.21192507e-02 1.87083453e+01] [-1.00417516e-01 9.94942574e-01 -2.36559292e-03 -4.10116436e-01] [-7.19918435e-02 -4.89456973e-03 9.97393211e-01 -2.19460544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.576296757 meters 0.08409043002845648 Centerline is valid? [True, True] Translation: X:18.74, Y:-0.41, Z:-2.20 [[ 9.92169300e-01 1.03156561e-01 7.04187829e-02 1.87388574e+01] [-1.03250441e-01 9.94652696e-01 -2.31520740e-03 -4.08764519e-01] [-7.02810611e-02 -4.97369266e-03 9.97514829e-01 -2.19937528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.606296757000003 meters 0.0859270387876121 Centerline is valid? [True, True] Translation: X:18.77, Y:-0.41, Z:-2.20 [[ 9.92039244e-01 1.05070757e-01 6.94137853e-02 1.87683535e+01] [-1.05166672e-01 9.94451993e-01 -2.28136951e-03 -4.08045122e-01] [-6.92683823e-02 -5.03680868e-03 9.97585346e-01 -2.20382745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.636296757000004 meters 0.07910830940744885 Centerline is valid? [True, True] Translation: X:18.80, Y:-0.42, Z:-2.20 [[ 9.91814160e-01 1.08624953e-01 6.71214724e-02 1.87992296e+01] [-1.08722389e-01 9.94069694e-01 -2.21044632e-03 -4.24353381e-01] [-6.69635312e-02 -5.10525488e-03 9.97742362e-01 -2.19895424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.666296757 meters 0.07931369400482237 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.42, Z:-2.20 [[ 9.91563723e-01 1.10859972e-01 6.71673303e-02 1.88304176e+01] [-1.10962464e-01 9.93822131e-01 -2.21446078e-03 -4.24398587e-01] [-6.69978744e-02 -5.25727353e-03 9.97739267e-01 -2.20204438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.696296757000002 meters 0.08255583665819737 Centerline is valid? [True, True] Translation: X:18.86, Y:-0.42, Z:-2.21 [[ 9.90642972e-01 1.16556036e-01 7.10013553e-02 1.88604418e+01] [-1.16684827e-01 9.93166225e-01 -2.34523698e-03 -4.16471342e-01] [-7.07894995e-02 -5.96148830e-03 9.97473462e-01 -2.20534793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.726296757000004 meters 0.08379998352594978 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.41, Z:-2.21 [[ 9.90214149e-01 1.19345572e-01 7.23365301e-02 1.88911350e+01] [-1.19486810e-01 9.92832918e-01 -2.38720180e-03 -4.14130012e-01] [-7.21029902e-02 -6.27942026e-03 9.97377425e-01 -2.20804037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.756296757 meters 0.08566494794131953 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.41, Z:-2.21 [[ 9.89812446e-01 1.22246387e-01 7.29872732e-02 1.89207946e+01] [-1.22397812e-01 9.92478192e-01 -2.41131986e-03 -4.11492859e-01] [-7.27330521e-02 -6.54672814e-03 9.97329957e-01 -2.21107044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.786296757000002 meters 0.08691851130110212 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.41, Z:-2.22 [[ 9.89446312e-01 1.24313784e-01 7.44451453e-02 1.89513880e+01] [-1.24476869e-01 9.92219452e-01 -2.46322951e-03 -4.12267882e-01] [-7.41721347e-02 -6.82946527e-03 9.97222068e-01 -2.21520839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.816296757000003 meters 0.08771743935902675 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.41, Z:-2.22 [[ 9.89407257e-01 1.24520431e-01 7.46186428e-02 1.89831615e+01] [-1.24685421e-01 9.92193271e-01 -2.46148831e-03 -4.13849580e-01] [-7.43426209e-02 -6.86844250e-03 9.97209105e-01 -2.21914220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.846296757 meters 0.08692487813694559 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.42, Z:-2.23 [[ 9.89962796e-01 1.21461619e-01 7.22546662e-02 1.90129548e+01] [-1.21606337e-01 9.92575486e-01 -2.40920993e-03 -4.19925358e-01] [-7.20108370e-02 -6.40159707e-03 9.97383306e-01 -2.22570699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.876296757000002 meters 0.08715724303478548 Centerline is valid? [True, True] Translation: X:19.04, Y:-0.42, Z:-2.23 [[ 9.90320334e-01 1.19524037e-01 7.05665674e-02 1.90428416e+01] [-1.19657468e-01 9.92812457e-01 -2.34854458e-03 -4.21340184e-01] [-7.03400747e-02 -6.11800535e-03 9.97504308e-01 -2.23147976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.906296757000003 meters 0.08705584334563916 Centerline is valid? [True, True] Translation: X:19.07, Y:-0.42, Z:-2.24 [[ 9.90791348e-01 1.15559804e-01 7.05580357e-02 1.90718596e+01] [-1.15682389e-01 9.93283451e-01 -2.36018727e-03 -4.23127043e-01] [-7.03568720e-02 -5.82386904e-03 9.97504884e-01 -2.23778796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.936296757 meters 0.08602990505434899 Centerline is valid? [True, True] Translation: X:19.10, Y:-0.43, Z:-2.24 [[ 9.91016322e-01 1.13341492e-01 7.09954689e-02 1.91027653e+01] [-1.13460155e-01 9.93539716e-01 -2.37210276e-03 -4.28322815e-01] [-7.08056756e-02 -5.70436436e-03 9.97473817e-01 -2.24107476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.966296757000002 meters 0.08535108009006959 Centerline is valid? [True, True] Translation: X:19.13, Y:-0.43, Z:-2.24 [[ 9.91260620e-01 1.10514135e-01 7.20347808e-02 1.91333515e+01] [-1.10628737e-01 9.93858883e-01 -2.40916575e-03 -4.34002786e-01] [-7.18586536e-02 -5.58100572e-03 9.97399211e-01 -2.24467397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.996296757000003 meters 0.08407196689207364 Centerline is valid? [True, True] Translation: X:19.16, Y:-0.44, Z:-2.25 [[ 9.91570494e-01 1.06997826e-01 7.30713447e-02 1.91639798e+01] [-1.07106291e-01 9.94244573e-01 -2.44377192e-03 -4.42401373e-01] [-7.29122662e-02 -5.40322858e-03 9.97323722e-01 -2.24740290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.026296757 meters 0.08393227586176956 Centerline is valid? [True, True] Translation: X:19.19, Y:-0.44, Z:-2.25 [[ 9.91616051e-01 1.05411092e-01 7.47402803e-02 1.91939832e+01] [-1.05519968e-01 9.94414037e-01 -2.50167739e-03 -4.44606262e-01] [-7.45864885e-02 -5.40588853e-03 9.97199896e-01 -2.25047855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.056296757000002 meters 0.07892130112577762 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.46, Z:-2.25 [[ 9.91535541e-01 1.02979747e-01 7.90723871e-02 1.92251219e+01] [-1.03094076e-01 9.94668090e-01 -2.64602752e-03 -4.57073812e-01] [-7.89232676e-02 -5.52826439e-03 9.96865365e-01 -2.24786476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.086296757000003 meters 0.07872226745864186 Centerline is valid? [True, True] Translation: X:19.26, Y:-0.46, Z:-2.25 [[ 9.91635929e-01 1.01623052e-01 7.95672061e-02 1.92562685e+01] [-1.01734416e-01 9.94808029e-01 -2.66348622e-03 -4.59354428e-01] [-7.94247671e-02 -5.45351461e-03 9.96825945e-01 -2.25231037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.116296757000004 meters 0.07849843131588574 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.46, Z:-2.26 [[ 9.91896800e-01 1.00332163e-01 7.79371183e-02 1.92877646e+01] [-1.00435394e-01 9.94940174e-01 -2.60407207e-03 -4.63065171e-01] [-7.78040422e-02 -5.24467445e-03 9.96954876e-01 -2.25655174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.146296757 meters 0.07448098848982093 Centerline is valid? [True, True] Translation: X:19.32, Y:-0.48, Z:-2.26 [[ 9.92289531e-01 9.65679914e-02 7.76924049e-02 1.93182689e+01] [-9.66570974e-02 9.95314289e-01 -2.62156684e-03 -4.80556038e-01] [-7.75815201e-02 -4.90816901e-03 9.96973930e-01 -2.25631613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.176296757000003 meters 0.07790227996287111 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.48, Z:-2.27 [[ 9.92557314e-01 9.46145536e-02 7.66685359e-02 1.93484630e+01] [-9.46954816e-02 9.95502924e-01 -2.58739609e-03 -4.76328220e-01] [-7.65685570e-02 -4.69202502e-03 9.97053279e-01 -2.26528977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.206296757000004 meters 0.07382004418787871 Centerline is valid? [True, True] Translation: X:19.38, Y:-0.49, Z:-2.26 [[ 9.92754906e-01 9.06127113e-02 7.89115542e-02 1.93792219e+01] [-9.06855957e-02 9.95876001e-01 -2.66696850e-03 -4.92313657e-01] [-7.88277843e-02 -4.50849524e-03 9.96878054e-01 -2.26212435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.236296757 meters 0.0734525419573288 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.49, Z:-2.26 [[ 9.92674332e-01 8.99841651e-02 8.06258045e-02 1.94103282e+01] [-9.00582538e-02 9.95932773e-01 -2.72446414e-03 -4.94804864e-01] [-8.05430396e-02 -4.55651354e-03 9.96740717e-01 -2.26416579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.266296757000003 meters 0.07377653728619972 Centerline is valid? [True, True] Translation: X:19.44, Y:-0.49, Z:-2.27 [[ 9.92270083e-01 9.25884996e-02 8.26283923e-02 1.94421467e+01] [-9.26756033e-02 9.95692450e-01 -2.78888886e-03 -4.93730360e-01] [-8.25306853e-02 -4.89030512e-03 9.96576525e-01 -2.26635113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.296296757000004 meters 0.07279634051782882 Centerline is valid? [True, True] Translation: X:19.47, Y:-0.50, Z:-2.27 [[ 9.92020171e-01 9.48138680e-02 8.31042156e-02 1.94733069e+01] [-9.49077053e-02 9.95482055e-01 -2.82953170e-03 -4.97487190e-01] [-8.29970341e-02 -5.08027788e-03 9.96536845e-01 -2.26855664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.326296757 meters 0.07441464441032271 Centerline is valid? [True, True] Translation: X:19.50, Y:-0.49, Z:-2.27 [[ 9.91807917e-01 9.73651509e-02 8.26866547e-02 1.95029180e+01] [-9.74667310e-02 9.95234797e-01 -2.81678813e-03 -4.94677445e-01] [-8.25668931e-02 -5.26548516e-03 9.96571615e-01 -2.27410934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.356296757000003 meters 0.07733535585709275 Centerline is valid? [True, True] Translation: X:19.53, Y:-0.49, Z:-2.28 [[ 9.91305380e-01 1.00965009e-01 8.43783730e-02 1.95322671e+01] [-1.01082999e-01 9.94873817e-01 -2.88371002e-03 -4.90337177e-01] [-8.42369878e-02 -5.67058177e-03 9.96429613e-01 -2.28032028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.386296757000004 meters 0.07528321861010884 Centerline is valid? [True, True] Translation: X:19.56, Y:-0.50, Z:-2.28 [[ 9.91255534e-01 1.02597073e-01 8.29837725e-02 1.95635787e+01] [-1.02716939e-01 9.94706587e-01 -2.83489617e-03 -4.99275545e-01] [-8.28353572e-02 -5.71373255e-03 9.96546866e-01 -2.28118200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.416296757 meters 0.07605839406765587 Centerline is valid? [True, True] Translation: X:19.60, Y:-0.51, Z:-2.29 [[ 9.91342064e-01 1.02879702e-01 8.15884753e-02 1.95954223e+01] [-1.02996842e-01 9.94677790e-01 -2.78289985e-03 -5.06619507e-01] [-8.14405482e-02 -5.64454964e-03 9.96662218e-01 -2.28656782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.446296757000002 meters 0.07623417902620223 Centerline is valid? [True, True] Translation: X:19.63, Y:-0.51, Z:-2.29 [[ 9.91535864e-01 1.01975670e-01 8.03591483e-02 1.96258657e+01] [-1.02084472e-01 9.94771894e-01 -2.76403829e-03 -5.10246656e-01] [-8.02208868e-02 -5.46277809e-03 9.96762142e-01 -2.29140419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.476296757000004 meters 0.07637587507669569 Centerline is valid? [True, True] Translation: X:19.66, Y:-0.51, Z:-2.30 [[ 9.91565706e-01 1.00179576e-01 8.22283638e-02 1.96557735e+01] [-1.00286038e-01 9.94954580e-01 -2.84490441e-03 -5.12526107e-01] [-8.20984885e-02 -5.42544721e-03 9.96609453e-01 -2.29538230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.506296757 meters 0.07606230770279536 Centerline is valid? [True, True] Translation: X:19.69, Y:-0.52, Z:-2.30 [[ 9.91619693e-01 9.98449577e-02 8.19839585e-02 1.96872968e+01] [-9.99503123e-02 9.94988410e-01 -2.82833004e-03 -5.15642312e-01] [-8.18554830e-02 -5.38969450e-03 9.96629636e-01 -2.29831688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.536296757000002 meters 0.07676425945479456 Centerline is valid? [True, True] Translation: X:19.72, Y:-0.52, Z:-2.30 [[ 9.91712327e-01 9.96980448e-02 8.10367872e-02 1.97191767e+01] [-9.97989483e-02 9.95003643e-01 -2.81440715e-03 -5.17856227e-01] [-8.09124894e-02 -5.29630388e-03 9.96707138e-01 -2.30245261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.566296757000003 meters 0.07625353903379938 Centerline is valid? [True, True] Translation: X:19.75, Y:-0.53, Z:-2.30 [[ 9.92014622e-01 9.70859305e-02 8.05065907e-02 1.97503583e+01] [-9.71747093e-02 9.95263333e-01 -2.82379661e-03 -5.26774339e-01] [-8.03994088e-02 -5.02195702e-03 9.96750077e-01 -2.30488656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.596296757 meters 0.076456454723974 Centerline is valid? [True, True] Translation: X:19.78, Y:-0.53, Z:-2.31 [[ 9.92115945e-01 9.66032912e-02 7.98358026e-02 1.97824188e+01] [-9.66892393e-02 9.95310687e-01 -2.79764412e-03 -5.30013989e-01] [-7.97316892e-02 -4.94367568e-03 9.96804102e-01 -2.30840183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.626296757000002 meters 0.07718587193759205 Centerline is valid? [True, True] Translation: X:19.81, Y:-0.53, Z:-2.31 [[ 9.92063300e-01 9.74974949e-02 7.94018150e-02 1.98128887e+01] [-9.75838179e-02 9.95223366e-01 -2.80170862e-03 -5.31703251e-01] [-7.92957012e-02 -4.96885996e-03 9.96838754e-01 -2.31286571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.656296757000003 meters 0.07747979368629465 Centerline is valid? [True, True] Translation: X:19.84, Y:-0.53, Z:-2.32 [[ 9.91980347e-01 9.83635250e-02 7.93700715e-02 1.98448701e+01] [-9.84512124e-02 9.95137891e-01 -2.81722075e-03 -5.33002180e-01] [-7.92612774e-02 -5.01945215e-03 9.96841239e-01 -2.31703718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.686296757 meters 0.07503361887663088 Centerline is valid? [True, True] Translation: X:19.88, Y:-0.55, Z:-2.32 [[ 9.91739883e-01 9.87554672e-02 8.18496343e-02 1.98770115e+01] [-9.88485034e-02 9.95098196e-01 -2.92468063e-03 -5.45333984e-01] [-8.17372517e-02 -5.19019144e-03 9.96640398e-01 -2.31608834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.716296757000002 meters 0.07786958279711531 Centerline is valid? [True, True] Translation: X:19.91, Y:-0.54, Z:-2.32 [[ 9.91734608e-01 9.84735149e-02 8.22522552e-02 1.99077228e+01] [-9.85647694e-02 9.95126235e-01 -2.96022420e-03 -5.40359410e-01] [-8.21428807e-02 -5.17141779e-03 9.96607146e-01 -2.32257412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.746296757000003 meters 0.07786958279711531 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.54, Z:-2.33 [[ 9.91708615e-01 9.87354767e-02 8.22516200e-02 1.99400217e+01] [-9.88261791e-02 9.95100256e-01 -2.97775217e-03 -5.41634043e-01] [-8.21426179e-02 -5.17555085e-03 9.96607146e-01 -2.32634376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.776296757 meters 0.07514515668494771 Centerline is valid? [True, True] Translation: X:19.97, Y:-0.55, Z:-2.33 [[ 9.91607635e-01 9.84694690e-02 8.37738683e-02 1.99718006e+01] [-9.85606921e-02 9.95126349e-01 -3.05618276e-03 -5.50275356e-01] [-8.36665243e-02 -5.22627628e-03 9.96480105e-01 -2.32579930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.806296757000002 meters 0.07559995155760839 Centerline is valid? [True, True] Translation: X:20.00, Y:-0.55, Z:-2.33 [[ 9.91741043e-01 9.76535391e-02 8.31474029e-02 2.00025424e+01] [-9.77388120e-02 9.95207414e-01 -3.05403216e-03 -5.49624190e-01] [-8.30471489e-02 -5.09791934e-03 9.96532580e-01 -2.33037339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.836296757000003 meters 0.07573601477006138 Centerline is valid? [True, True] Translation: X:20.03, Y:-0.55, Z:-2.33 [[ 9.91801911e-01 9.78102292e-02 8.22321600e-02 2.00340532e+01] [-9.78926954e-02 9.95192338e-01 -3.03808468e-03 -5.52063494e-01] [-8.21339713e-02 -5.03674960e-03 9.96608570e-01 -2.33420391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.866296757000004 meters 0.07679761617601129 Centerline is valid? [True, True] Translation: X:20.06, Y:-0.56, Z:-2.34 [[ 9.91908397e-01 9.85927168e-02 7.99825464e-02 2.00645793e+01] [-9.86716777e-02 9.95115598e-01 -2.97420719e-03 -5.55180549e-01] [-7.98851146e-02 -4.94187095e-03 9.96791827e-01 -2.33836184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.896296757 meters 0.07697641834182564 Centerline is valid? [True, True] Translation: X:20.10, Y:-0.56, Z:-2.34 [[ 9.91815486e-01 9.96757114e-02 7.97921912e-02 2.00961811e+01] [-9.97564056e-02 9.95007414e-01 -2.98430096e-03 -5.57720168e-01] [-7.96912841e-02 -4.99990628e-03 9.96807053e-01 -2.34167232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.926296757000003 meters 0.0773720128606408 Centerline is valid? [True, True] Translation: X:20.13, Y:-0.56, Z:-2.35 [[ 9.91808479e-01 1.00303892e-01 7.90890067e-02 2.01283107e+01] [-1.00383667e-01 9.94944350e-01 -2.97662717e-03 -5.57937565e-01] [-7.89877276e-02 -4.98700047e-03 9.96863114e-01 -2.34662605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.956296757000004 meters 0.07699292076111718 Centerline is valid? [True, True] Translation: X:20.16, Y:-0.56, Z:-2.35 [[ 9.91687649e-01 1.01373399e-01 7.92404040e-02 2.01598950e+01] [-1.01455397e-01 9.94835563e-01 -3.00096543e-03 -5.59260177e-01] [-7.91353900e-02 -5.06334633e-03 9.96851018e-01 -2.35010869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.986296757 meters 0.07795279181059477 Centerline is valid? [True, True] Translation: X:20.19, Y:-0.56, Z:-2.36 [[ 9.91988355e-01 1.01288624e-01 7.54964793e-02 2.01889589e+01] [-1.01360756e-01 9.94845551e-01 -2.88553089e-03 -5.57987226e-01] [-7.53996080e-02 -4.78996720e-03 9.97141893e-01 -2.35747914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.016296757000003 meters 0.07818588704891007 Centerline is valid? [True, True] Translation: X:20.22, Y:-0.56, Z:-2.36 [[ 9.92079464e-01 1.01526580e-01 7.39641227e-02 2.02202744e+01] [-1.01596814e-01 9.94821654e-01 -2.82201474e-03 -5.60829242e-01] [-7.38676204e-02 -4.71485634e-03 9.97256910e-01 -2.36219692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.046296757000004 meters 0.07796722418012901 Centerline is valid? [True, True] Translation: X:20.25, Y:-0.57, Z:-2.37 [[ 9.92373024e-01 1.00723325e-01 7.10675308e-02 2.02515771e+01] [-1.00785828e-01 9.94904441e-01 -2.71498031e-03 -5.65947902e-01] [-7.09788638e-02 -4.46832670e-03 9.97467811e-01 -2.36613547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.076296757 meters 0.07602630784515998 Centerline is valid? [True, True] Translation: X:20.28, Y:-0.58, Z:-2.37 [[ 9.92706090e-01 9.86359110e-02 6.93222641e-02 2.02838931e+01] [-9.86890039e-02 9.95114751e-01 -2.66689008e-03 -5.79285481e-01] [-6.92466587e-02 -4.19390717e-03 9.97590753e-01 -2.36669708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.106296757000003 meters 0.07823426687682734 Centerline is valid? [True, True] Translation: X:20.31, Y:-0.58, Z:-2.38 [[ 9.92692325e-01 9.83502513e-02 6.99226428e-02 2.03147635e+01] [-9.84032583e-02 9.95142974e-01 -2.69443907e-03 -5.75885951e-01] [-6.98480255e-02 -4.20586690e-03 9.97548778e-01 -2.37570655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.136296757000004 meters 0.07810649450166979 Centerline is valid? [True, True] Translation: X:20.34, Y:-0.58, Z:-2.38 [[ 9.92725938e-01 9.66210893e-02 7.18301994e-02 2.03446697e+01] [-9.66704774e-02 9.95312512e-01 -2.79671819e-03 -5.76980615e-01] [-7.17637181e-02 -4.16748497e-03 9.97412954e-01 -2.38015973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.166296757 meters 0.07830189789119024 Centerline is valid? [True, True] Translation: X:20.38, Y:-0.58, Z:-2.38 [[ 9.92499705e-01 9.74246742e-02 7.38428656e-02 2.03764587e+01] [-9.74798108e-02 9.95233377e-01 -2.86559892e-03 -5.78597077e-01] [-7.37700646e-02 -4.35408249e-03 9.97265772e-01 -2.38325175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.196296757000002 meters 0.07867223983833507 Centerline is valid? [True, True] Translation: X:20.41, Y:-0.58, Z:-2.39 [[ 9.92362551e-01 9.73394034e-02 7.57734044e-02 2.04062672e+01] [-9.73952418e-02 9.95241360e-01 -2.96686700e-03 -5.79161796e-01] [-7.57016191e-02 -4.43576134e-03 9.97120649e-01 -2.38646939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.226296757000004 meters 0.07889865546817774 Centerline is valid? [True, True] Translation: X:20.44, Y:-0.58, Z:-2.39 [[ 9.92020702e-01 9.70147585e-02 8.05174710e-02 2.04364623e+01] [-9.70766670e-02 9.95271907e-01 -3.15460006e-03 -5.82973708e-01] [-8.04428197e-02 -4.68693916e-03 9.96748206e-01 -2.38669928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.256296757 meters 0.07399469960716709 Centerline is valid? [True, True] Translation: X:20.47, Y:-0.60, Z:-2.38 [[ 9.91891938e-01 9.71568726e-02 8.19202407e-02 2.04686611e+01] [-9.72221552e-02 9.95257557e-01 -3.20115952e-03 -6.00330839e-01] [-8.18427533e-02 -4.78925803e-03 9.96633748e-01 -2.38014736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.286296757000002 meters 0.07446360206910194 Centerline is valid? [True, True] Translation: X:20.50, Y:-0.61, Z:-2.38 [[ 9.91944906e-01 9.71565688e-02 8.12767105e-02 2.05000387e+01] [-9.72192243e-02 9.95257861e-01 -3.19555874e-03 -6.05209257e-01] [-8.12017546e-02 -4.73184053e-03 9.96686453e-01 -2.38488165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.316296757000003 meters 0.07517814096724156 Centerline is valid? [True, True] Translation: X:20.53, Y:-0.61, Z:-2.39 [[ 9.91915191e-01 9.74549841e-02 8.12821041e-02 2.05310588e+01] [-9.75165168e-02 9.95228692e-01 -3.22188955e-03 -6.05173306e-01] [-8.12082713e-02 -4.73050648e-03 9.96685928e-01 -2.39113491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.346296757 meters 0.07552071329737124 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.61, Z:-2.40 [[ 9.91891059e-01 9.81154067e-02 8.07805258e-02 2.05629225e+01] [-9.81777749e-02 9.95163718e-01 -3.20913710e-03 -6.05676262e-01] [-8.07047142e-02 -4.74773789e-03 9.96726747e-01 -2.39724422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.376296757000002 meters 0.07602233009988418 Centerline is valid? [True, True] Translation: X:20.59, Y:-0.61, Z:-2.40 [[ 9.91825093e-01 9.98537182e-02 7.94494743e-02 2.05938280e+01] [-9.99174702e-02 9.94990638e-01 -3.18265798e-03 -6.07575291e-01] [-7.93692834e-02 -4.78175044e-03 9.96833813e-01 -2.40315404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.406296757000003 meters 0.0769053292936927 Centerline is valid? [True, True] Translation: X:20.63, Y:-0.61, Z:-2.41 [[ 9.91609347e-01 1.00849073e-01 8.08725364e-02 2.06255497e+01] [-1.00918847e-01 9.94889402e-01 -3.23474721e-03 -6.09999777e-01] [-8.07854507e-02 -4.95395756e-03 9.96719203e-01 -2.40715662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.436296757 meters 0.07742407865738023 Centerline is valid? [True, True] Translation: X:20.66, Y:-0.62, Z:-2.41 [[ 9.91398415e-01 1.02346046e-01 8.15749300e-02 2.06559362e+01] [-1.02419941e-01 9.94735813e-01 -3.28913043e-03 -6.16463936e-01] [-8.14821338e-02 -5.09406081e-03 9.96661784e-01 -2.40860067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.466296757000002 meters 0.07780760076134514 Centerline is valid? [True, True] Translation: X:20.69, Y:-0.62, Z:-2.41 [[ 9.91190468e-01 1.03360702e-01 8.28131674e-02 2.06883050e+01] [-1.03439976e-01 9.94630076e-01 -3.34420660e-03 -6.17101226e-01] [-8.27141265e-02 -5.25144638e-03 9.96559479e-01 -2.41326354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.496296757000003 meters 0.07610789008590389 Centerline is valid? [True, True] Translation: X:20.72, Y:-0.62, Z:-2.42 [[ 9.90879296e-01 1.05433203e-01 8.39169807e-02 2.07203886e+01] [-1.05519530e-01 9.94411355e-01 -3.41833716e-03 -6.22353046e-01] [-8.38084047e-02 -5.46772083e-03 9.96466886e-01 -2.41518293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.526296757 meters 0.07744687253815428 Centerline is valid? [True, True] Translation: X:20.75, Y:-0.62, Z:-2.42 [[ 9.90792104e-01 1.08905031e-01 8.04406684e-02 2.07495360e+01] [-1.08995237e-01 9.94036854e-01 -3.28185345e-03 -6.19886189e-01] [-8.03183993e-02 -5.51601524e-03 9.96753996e-01 -2.42271999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.556296757000002 meters 0.07778108948689155 Centerline is valid? [True, True] Translation: X:20.78, Y:-0.62, Z:-2.43 [[ 9.90771838e-01 1.10127917e-01 7.90126979e-02 2.07798910e+01] [-1.10218214e-01 9.93902162e-01 -3.23077699e-03 -6.22694535e-01] [-7.88866900e-02 -5.50767558e-03 9.96868374e-01 -2.42704679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.586296757000003 meters 0.08210020037603012 Centerline is valid? [True, True] Translation: X:20.81, Y:-0.62, Z:-2.44 [[ 9.90503136e-01 1.12113318e-01 7.95873178e-02 2.08094371e+01] [-1.12210845e-01 9.93679072e-01 -3.26011590e-03 -6.18170769e-01] [-7.94497545e-02 -5.70140514e-03 9.96822567e-01 -2.43521891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.616296757000004 meters 0.07822581491110409 Centerline is valid? [True, True] Translation: X:20.84, Y:-0.63, Z:-2.43 [[ 9.90283749e-01 1.13893027e-01 7.97901976e-02 2.08409340e+01] [-1.13996894e-01 9.93475734e-01 -3.26715757e-03 -6.31350260e-01] [-7.96417315e-02 -5.86042164e-03 9.96806325e-01 -2.43276210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.646296757 meters 0.07908467464963104 Centerline is valid? [True, True] Translation: X:20.87, Y:-0.63, Z:-2.44 [[ 9.89951695e-01 1.16083918e-01 8.07475441e-02 2.08719091e+01] [-1.16197313e-01 9.93220637e-01 -3.30928481e-03 -6.32016705e-01] [-8.05842819e-02 -6.10661551e-03 9.96729092e-01 -2.43594889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.676296757000003 meters 0.07980660578187826 Centerline is valid? [True, True] Translation: X:20.90, Y:-0.63, Z:-2.44 [[ 9.89629487e-01 1.18415276e-01 8.13099006e-02 2.09026949e+01] [-1.18537868e-01 9.92943932e-01 -3.33489854e-03 -6.32579200e-01] [-8.11310754e-02 -6.33798835e-03 9.96683289e-01 -2.43929954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.706296757000004 meters 0.08127271339541606 Centerline is valid? [True, True] Translation: X:20.93, Y:-0.63, Z:-2.44 [[ 9.89209501e-01 1.21960095e-01 8.11806511e-02 2.09322104e+01] [-1.22093831e-01 9.92512965e-01 -3.33327408e-03 -6.32761097e-01] [-8.09793752e-02 -6.61435033e-03 9.96693830e-01 -2.44448604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.736296757 meters 0.08243910443168731 Centerline is valid? [True, True] Translation: X:20.96, Y:-0.63, Z:-2.45 [[ 9.89061116e-01 1.23623292e-01 8.04698085e-02 2.09616744e+01] [-1.23759726e-01 9.92306696e-01 -3.30916349e-03 -6.33145115e-01] [-8.02598195e-02 -6.68595651e-03 9.96751553e-01 -2.44934616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.766296757000003 meters 0.08309897885986912 Centerline is valid? [True, True] Translation: X:20.99, Y:-0.63, Z:-2.45 [[ 9.88855924e-01 1.24034632e-01 8.23369344e-02 2.09933404e+01] [-1.24179594e-01 9.92254009e-01 -3.37798617e-03 -6.32543468e-01] [-8.21181405e-02 -6.88422546e-03 9.96598825e-01 -2.45351877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.796296757000004 meters 0.08354103749339278 Centerline is valid? [True, True] Translation: X:21.02, Y:-0.63, Z:-2.46 [[ 9.88584537e-01 1.24173800e-01 8.53315950e-02 2.10248978e+01] [-1.24327744e-01 9.92234933e-01 -3.52854078e-03 -6.31885604e-01] [-8.51071418e-02 -7.12082388e-03 9.96346360e-01 -2.45593330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.826296757 meters 0.08365483090600058 Centerline is valid? [True, True] Translation: X:21.06, Y:-0.63, Z:-2.46 [[ 9.88321408e-01 1.22993553e-01 8.99632116e-02 2.10551460e+01] [-1.23159615e-01 9.92379887e-01 -3.72423998e-03 -6.34338752e-01] [-8.97357392e-02 -7.39908838e-03 9.95938126e-01 -2.45516879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.856296757000003 meters 0.08283089224021978 Centerline is valid? [True, True] Translation: X:21.09, Y:-0.64, Z:-2.46 [[ 9.88474658e-01 1.20746953e-01 9.13127762e-02 2.10854748e+01] [-1.20908619e-01 9.92656446e-01 -3.77970025e-03 -6.38830146e-01] [-9.10986032e-02 -7.30436377e-03 9.95815089e-01 -2.45748811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.886296757000004 meters 0.07777745229724913 Centerline is valid? [True, True] Translation: X:21.12, Y:-0.66, Z:-2.46 [[ 9.89456859e-01 1.14929991e-01 8.81261648e-02 2.11160305e+01] [-1.15057460e-01 9.93352136e-01 -3.64884889e-03 -6.55039607e-01] [-8.79596762e-02 -6.52919409e-03 9.96102638e-01 -2.45949240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.916296757 meters 0.07757793059005626 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.66, Z:-2.47 [[ 9.89965099e-01 1.12211225e-01 8.58937934e-02 2.11473372e+01] [-1.12321931e-01 9.93665498e-01 -3.55824242e-03 -6.57886569e-01] [-8.57489737e-02 -6.12522092e-03 9.96297945e-01 -2.46516282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.946296757000002 meters 0.07721607409069677 Centerline is valid? [True, True] Translation: X:21.18, Y:-0.66, Z:-2.47 [[ 9.90429035e-01 1.09358578e-01 8.42082400e-02 2.11789128e+01] [-1.09454323e-01 9.93985690e-01 -3.49279319e-03 -6.60293775e-01] [-8.40837525e-02 -5.75759210e-03 9.96442057e-01 -2.47044551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.976296757000004 meters 0.07649302845556961 Centerline is valid? [True, True] Translation: X:21.21, Y:-0.66, Z:-2.48 [[ 9.91074214e-01 1.03713104e-01 8.37585540e-02 2.12096888e+01] [-1.03787325e-01 9.94593427e-01 -3.47940507e-03 -6.63242848e-01] [-8.36665671e-02 -5.24472764e-03 9.96480004e-01 -2.47528490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.006296757 meters 0.07620553225207398 Centerline is valid? [True, True] Translation: X:21.24, Y:-0.67, Z:-2.48 [[ 9.91343638e-01 1.00746788e-01 8.41895268e-02 2.12387207e+01] [-1.00810847e-01 9.94899451e-01 -3.50082794e-03 -6.65318470e-01] [-8.41128112e-02 -5.01669398e-03 9.96443610e-01 -2.47903804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.036296757000002 meters 0.07537696936456975 Centerline is valid? [True, True] Translation: X:21.27, Y:-0.67, Z:-2.48 [[ 9.91869234e-01 9.54121229e-02 8.42137144e-02 2.12684491e+01] [-9.54572375e-02 9.95427379e-01 -3.49993344e-03 -6.70394798e-01] [-8.41625731e-02 -4.56733223e-03 9.96441569e-01 -2.48087620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.066296757000003 meters 0.07496965731420849 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.67, Z:-2.48 [[ 9.92188502e-01 9.26361525e-02 8.35494998e-02 2.12995788e+01] [-9.26708680e-02 9.95690747e-01 -3.47087732e-03 -6.73705698e-01] [-8.35109925e-02 -4.29884010e-03 9.96497584e-01 -2.48466952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.096296757 meters 0.07462876734448946 Centerline is valid? [True, True] Translation: X:21.33, Y:-0.68, Z:-2.49 [[ 9.92318411e-01 9.05698390e-02 8.42690690e-02 2.13307293e+01] [-9.05975002e-02 9.95881427e-01 -3.50369528e-03 -6.76037611e-01] [-8.42393298e-02 -4.15778566e-03 9.96436876e-01 -2.48844406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.126296757000002 meters 0.07462480005617783 Centerline is valid? [True, True] Translation: X:21.36, Y:-0.68, Z:-2.49 [[ 9.92470120e-01 8.96348644e-02 8.34784526e-02 2.13614488e+01] [-8.96587377e-02 9.95966499e-01 -3.47040359e-03 -6.76977631e-01] [-8.34528113e-02 -4.04030082e-03 9.96503540e-01 -2.49267946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.156296757000003 meters 0.07452160984749634 Centerline is valid? [True, True] Translation: X:21.39, Y:-0.68, Z:-2.50 [[ 9.92383260e-01 9.08111275e-02 8.32394374e-02 2.13935378e+01] [-9.08383201e-02 9.95859614e-01 -3.46838086e-03 -6.78494356e-01] [-8.32097615e-02 -4.11936755e-03 9.96523540e-01 -2.49596323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.186296757 meters 0.0754868216717336 Centerline is valid? [True, True] Translation: X:21.42, Y:-0.67, Z:-2.50 [[ 9.92053843e-01 9.54143199e-02 8.20078069e-02 2.14245507e+01] [-9.54541851e-02 9.95427869e-01 -3.44335384e-03 -6.74795758e-01] [-8.19614017e-02 -4.41199598e-03 9.96625739e-01 -2.50060860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.216296757000002 meters 0.0760496264256757 Centerline is valid? [True, True] Translation: X:21.46, Y:-0.67, Z:-2.50 [[ 9.91776232e-01 9.78706647e-02 8.24696196e-02 2.14552181e+01] [-9.79193126e-02 9.95188327e-01 -3.46426008e-03 -6.73272450e-01] [-8.24118522e-02 -4.63959765e-03 9.96587558e-01 -2.50447115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.246296757000003 meters 0.07510612727154271 Centerline is valid? [True, True] Translation: X:21.49, Y:-0.68, Z:-2.50 [[ 9.91202739e-01 1.02166172e-01 8.41380036e-02 2.14861841e+01] [-1.02232158e-01 9.94754285e-01 -3.53517128e-03 -6.75667643e-01] [-8.40578145e-02 -5.09753824e-03 9.96447841e-01 -2.50304869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.276296757000004 meters 0.07544601737754866 Centerline is valid? [True, True] Translation: X:21.52, Y:-0.68, Z:-2.51 [[ 9.90911752e-01 1.03966645e-01 8.53512475e-02 2.15183724e+01] [-1.04041478e-01 9.94566505e-01 -3.58308076e-03 -6.75280230e-01] [-8.52600128e-02 -5.32955307e-03 9.96344482e-01 -2.50616367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.306296757000002 meters 0.0758356466176556 Centerline is valid? [True, True] Translation: X:21.55, Y:-0.67, Z:-2.51 [[ 9.90602513e-01 1.05790911e-01 8.66887751e-02 2.15499576e+01] [-1.05873167e-01 9.94372902e-01 -3.66126435e-03 -6.73953371e-01] [-8.65882973e-02 -5.55115746e-03 9.96228714e-01 -2.50920227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.336296757000003 meters 0.0768438937342237 Centerline is valid? [True, True] Translation: X:21.58, Y:-0.67, Z:-2.51 [[ 9.90142199e-01 1.09365947e-01 8.75072300e-02 2.15798489e+01] [-1.09461503e-01 9.93984074e-01 -3.72033588e-03 -6.70061032e-01] [-8.73876710e-02 -5.89501134e-03 9.96156937e-01 -2.51293035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.366296757000004 meters 0.07695758981389066 Centerline is valid? [True, True] Translation: X:21.61, Y:-0.67, Z:-2.52 [[ 9.90273138e-01 1.09764861e-01 8.55031373e-02 2.16117695e+01] [-1.09857113e-01 9.93940726e-01 -3.63983809e-03 -6.70606764e-01] [-8.53845766e-02 -5.78869396e-03 9.96331253e-01 -2.51766949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.396296757 meters 0.07812890170123707 Centerline is valid? [True, True] Translation: X:21.64, Y:-0.67, Z:-2.52 [[ 9.90179795e-01 1.11098971e-01 8.48586563e-02 2.16415804e+01] [-1.11194071e-01 9.93792119e-01 -3.61966587e-03 -6.68331494e-01] [-8.47340050e-02 -5.85165940e-03 9.96386424e-01 -2.52349507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.426296757000003 meters 0.07835003354451174 Centerline is valid? [True, True] Translation: X:21.67, Y:-0.67, Z:-2.53 [[ 9.89998034e-01 1.11856399e-01 8.59769704e-02 2.16744707e+01] [-1.11957374e-01 9.93706264e-01 -3.66172680e-03 -6.69952627e-01] [-8.58454416e-02 -6.00065347e-03 9.96290396e-01 -2.52731019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.456296757000004 meters 0.07851412661162213 Centerline is valid? [True, True] Translation: X:21.71, Y:-0.67, Z:-2.53 [[ 9.89996080e-01 1.11405368e-01 8.65829422e-02 2.17054797e+01] [-1.11503896e-01 9.93757062e-01 -3.71264024e-03 -6.71856169e-01] [-8.64560183e-02 -5.97883611e-03 9.96237728e-01 -2.53078590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.486296757 meters 0.07503127184408265 Centerline is valid? [True, True] Translation: X:21.74, Y:-0.68, Z:-2.53 [[ 9.89788656e-01 1.11373580e-01 8.89625846e-02 2.17374169e+01] [-1.11475828e-01 9.93759750e-01 -3.83387825e-03 -6.81791652e-01] [-8.88344286e-02 -6.12244856e-03 9.96027590e-01 -2.53065530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.516296757000003 meters 0.07811523225535144 Centerline is valid? [True, True] Translation: X:21.77, Y:-0.67, Z:-2.54 [[ 9.89694113e-01 1.10674293e-01 9.08667374e-02 2.17673525e+01] [-1.10775660e-01 9.93837617e-01 -3.94266592e-03 -6.72183820e-01] [-9.07431335e-02 -6.16378957e-03 9.95855256e-01 -2.53796133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.546296757000004 meters 0.07429084318514813 Centerline is valid? [True, True] Translation: X:21.80, Y:-0.68, Z:-2.54 [[ 9.89379114e-01 1.10426439e-01 9.45249710e-02 2.17989389e+01] [-1.10534030e-01 9.93863829e-01 -4.11301341e-03 -6.77779783e-01] [-9.43991351e-02 -6.37889646e-03 9.95513994e-01 -2.53874627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.576296757 meters 0.07442687005827822 Centerline is valid? [True, True] Translation: X:21.83, Y:-0.68, Z:-2.54 [[ 9.89643231e-01 1.10117975e-01 9.20885837e-02 2.18306619e+01] [-1.10218666e-01 9.93899285e-01 -4.00723023e-03 -6.78369869e-01] [-9.19680455e-02 -6.18415258e-03 9.95742755e-01 -2.54261073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.606296757000003 meters 0.07801541751879655 Centerline is valid? [True, True] Translation: X:21.86, Y:-0.67, Z:-2.55 [[ 9.89870857e-01 1.09565890e-01 9.02828981e-02 2.18611529e+01] [-1.09658316e-01 9.93961490e-01 -3.95096231e-03 -6.71575417e-01] [-9.01706146e-02 -5.98932812e-03 9.95908323e-01 -2.54932345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.636296757000004 meters 0.07801541751879655 Centerline is valid? [True, True] Translation: X:21.89, Y:-0.67, Z:-2.55 [[ 9.89842166e-01 1.09825506e-01 9.02820296e-02 2.18934282e+01] [-1.09917212e-01 9.93932815e-01 -3.97069603e-03 -6.73102132e-01] [-9.01703555e-02 -5.99318665e-03 9.95908323e-01 -2.55309293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.666296757 meters 0.07411826279500183 Centerline is valid? [True, True] Translation: X:21.92, Y:-0.69, Z:-2.55 [[ 9.90528986e-01 1.06731312e-01 8.63756659e-02 2.19240239e+01] [-1.06801035e-01 9.94273048e-01 -3.82683841e-03 -6.88435875e-01] [-8.62894401e-02 -5.43441616e-03 9.96255288e-01 -2.55366548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.696296757000002 meters 0.0736221914497057 Centerline is valid? [True, True] Translation: X:21.95, Y:-0.69, Z:-2.56 [[ 9.90834507e-01 1.04779831e-01 8.52535442e-02 2.19549465e+01] [-1.04840293e-01 9.94481887e-01 -3.78007237e-03 -6.90746146e-01] [-8.51791808e-02 -5.19258039e-03 9.96352119e-01 -2.55765075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.726296757000004 meters 0.07308135426048318 Centerline is valid? [True, True] Translation: X:21.99, Y:-0.69, Z:-2.56 [[ 9.91129714e-01 1.01005811e-01 8.63696535e-02 2.19850133e+01] [-1.01053273e-01 9.94873629e-01 -3.83370825e-03 -6.89269864e-01] [-8.63141175e-02 -4.92823403e-03 9.96255783e-01 -2.56258533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.756296757 meters 0.07242067205286423 Centerline is valid? [True, True] Translation: X:22.02, Y:-0.69, Z:-2.57 [[ 9.91329976e-01 9.89283133e-02 8.64758253e-02 2.20167613e+01] [-9.89681771e-02 9.95083202e-01 -3.83670471e-03 -6.90982429e-01] [-8.64301999e-02 -4.75491441e-03 9.96246562e-01 -2.56639454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.786296757000002 meters 0.07048369254113628 Centerline is valid? [True, True] Translation: X:22.05, Y:-0.70, Z:-2.57 [[ 9.91465549e-01 9.71500558e-02 8.69363696e-02 2.20481152e+01] [-9.71831186e-02 9.95259024e-01 -3.86208606e-03 -6.98100655e-01] [-8.68994083e-02 -4.61962224e-03 9.96206380e-01 -2.56761124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.816296757000003 meters 0.07214107444318356 Centerline is valid? [True, True] Translation: X:22.08, Y:-0.70, Z:-2.57 [[ 9.91742801e-01 9.40080324e-02 8.72279021e-02 2.20774548e+01] [-9.40288671e-02 9.95561914e-01 -3.87908747e-03 -6.96805616e-01] [-8.72054426e-02 -4.35488375e-03 9.96180830e-01 -2.57489386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.846296757 meters 0.06995672882431349 Centerline is valid? [True, True] Translation: X:22.11, Y:-0.71, Z:-2.57 [[ 9.91868261e-01 9.21727552e-02 8.77583909e-02 2.21083005e+01] [-9.21867312e-02 9.95734090e-01 -3.90232458e-03 -7.08818537e-01] [-8.77437096e-02 -4.21956730e-03 9.96134146e-01 -2.57389275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.876296757000002 meters 0.06959710277573916 Centerline is valid? [True, True] Translation: X:22.14, Y:-0.72, Z:-2.58 [[ 9.92148171e-01 8.92169585e-02 8.76489662e-02 2.21384728e+01] [-8.92191313e-02 9.96004383e-01 -3.90060276e-03 -7.15601222e-01] [-8.76467544e-02 -3.94998873e-03 9.96143787e-01 -2.57655923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.906296757000003 meters 0.06949788659865044 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.72, Z:-2.58 [[ 9.92294806e-01 8.88405484e-02 8.63618811e-02 2.21707440e+01] [-8.88415772e-02 9.96038370e-01 -3.83918784e-03 -7.17893364e-01] [-8.63608228e-02 -3.86291957e-03 9.96256436e-01 -2.58113278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.936296757 meters 0.06964188473453686 Centerline is valid? [True, True] Translation: X:22.20, Y:-0.72, Z:-2.59 [[ 9.92266882e-01 8.92105444e-02 8.63012939e-02 2.22033494e+01] [-8.92108637e-02 9.96005279e-01 -3.86074865e-03 -7.18505201e-01] [-8.63009638e-02 -3.86811995e-03 9.96261603e-01 -2.58663592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.966296757000002 meters 0.06987162736172116 Centerline is valid? [True, True] Translation: X:22.24, Y:-0.72, Z:-2.59 [[ 9.92282910e-01 9.04948466e-02 8.47662002e-02 2.22353235e+01] [-9.04972854e-02 9.95889370e-01 -3.82164112e-03 -7.16975033e-01] [-8.47635965e-02 -3.87896183e-03 9.96393540e-01 -2.59307453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.996296757000003 meters 0.06995454137567417 Centerline is valid? [True, True] Translation: X:22.27, Y:-0.72, Z:-2.60 [[ 9.92267583e-01 9.10389399e-02 8.43620501e-02 2.22673881e+01] [-9.10432730e-02 9.95839672e-01 -3.80383880e-03 -7.19306919e-01] [-8.43573738e-02 -3.90617123e-03 9.96427908e-01 -2.59672020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.026296757000004 meters 0.07076063498493368 Centerline is valid? [True, True] Translation: X:22.30, Y:-0.72, Z:-2.60 [[ 9.92180783e-01 9.35203990e-02 8.26512458e-02 2.22973969e+01] [-9.35308735e-02 9.95609304e-01 -3.75365143e-03 -7.24165181e-01] [-8.26393922e-02 -4.00614240e-03 9.96571463e-01 -2.59991558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.056296757000002 meters 0.07100038896286577 Centerline is valid? [True, True] Translation: X:22.33, Y:-0.73, Z:-2.60 [[ 9.92120413e-01 9.46344421e-02 8.21060839e-02 2.23284164e+01] [-9.46490141e-02 9.95503742e-01 -3.72350310e-03 -7.27208989e-01] [-8.20892853e-02 -4.07709646e-03 9.96616640e-01 -2.60322610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.086296757000003 meters 0.07148540913430916 Centerline is valid? [True, True] Translation: X:22.36, Y:-0.73, Z:-2.61 [[ 9.91882734e-01 9.61562799e-02 8.32022303e-02 2.23601931e+01] [-9.61750705e-02 9.95357213e-01 -3.79142280e-03 -7.29051634e-01] [-8.31805092e-02 -4.24133355e-03 9.96525471e-01 -2.60760818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.116296757000004 meters 0.07241004659295562 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.73, Z:-2.61 [[ 9.91430501e-01 9.95062127e-02 8.46408619e-02 2.23901603e+01] [-9.95355193e-02 9.95026429e-01 -3.88419572e-03 -7.27250443e-01] [-8.46063961e-02 -4.57386203e-03 9.96403953e-01 -2.61260510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.146296757 meters 0.07222755112308124 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.73, Z:-2.62 [[ 9.91235360e-01 1.01041809e-01 8.51058929e-02 2.24216014e+01] [-1.01077484e-01 9.94870909e-01 -3.90078304e-03 -7.28974941e-01] [-8.50635192e-02 -4.73569547e-03 9.96364276e-01 -2.61608202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.176296757000003 meters 0.0743982580664736 Centerline is valid? [True, True] Translation: X:22.45, Y:-0.73, Z:-2.62 [[ 9.91006127e-01 1.03908063e-01 8.43206468e-02 2.24512814e+01] [-1.03951300e-01 9.94574783e-01 -3.88949606e-03 -7.28337339e-01] [-8.42673390e-02 -4.91072638e-03 9.96431082e-01 -2.62374237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.206296757000004 meters 0.07423348435240402 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.73, Z:-2.63 [[ 9.91047024e-01 1.03904936e-01 8.38424734e-02 2.24835137e+01] [-1.03948205e-01 9.94575218e-01 -3.86098473e-03 -7.33501648e-01] [-8.37888216e-02 -4.88885721e-03 9.96471541e-01 -2.62695336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.236296757 meters 0.07175294560422071 Centerline is valid? [True, True] Translation: X:22.52, Y:-0.75, Z:-2.63 [[ 9.91116361e-01 1.04305144e-01 8.25154270e-02 2.25151071e+01] [-1.04346591e-01 9.94533651e-01 -3.82186194e-03 -7.46252563e-01] [-8.24630087e-02 -4.82229358e-03 9.96582459e-01 -2.62617291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.266296757000003 meters 0.07212615075448887 Centerline is valid? [True, True] Translation: X:22.55, Y:-0.75, Z:-2.63 [[ 9.91114339e-01 1.03184465e-01 8.39364854e-02 2.25455537e+01] [-1.03221029e-01 9.94650736e-01 -3.91560841e-03 -7.54713051e-01] [-8.38915169e-02 -4.78319476e-03 9.96463413e-01 -2.62800045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.296296757000004 meters 0.07198744486817345 Centerline is valid? [True, True] Translation: X:22.58, Y:-0.76, Z:-2.63 [[ 9.91090661e-01 1.02365791e-01 8.52088377e-02 2.25763255e+01] [-1.02400222e-01 9.94735326e-01 -3.97804908e-03 -7.58514976e-01] [-8.51674572e-02 -4.78279661e-03 9.96355172e-01 -2.63158544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.326296757 meters 0.0724617312723586 Centerline is valid? [True, True] Translation: X:22.61, Y:-0.76, Z:-2.64 [[ 9.90900965e-01 1.02718440e-01 8.69724080e-02 2.26067965e+01] [-1.02755682e-01 9.94698337e-01 -4.06055521e-03 -7.58669874e-01] [-8.69284035e-02 -4.91330105e-03 9.96202445e-01 -2.63699103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.356296757000003 meters 0.0731535852957054 Centerline is valid? [True, True] Translation: X:22.64, Y:-0.76, Z:-2.64 [[ 9.90788196e-01 1.04237887e-01 8.64477460e-02 2.26387455e+01] [-1.04279220e-01 9.94539814e-01 -4.04993993e-03 -7.58790649e-01] [-8.63978825e-02 -5.00207085e-03 9.96248154e-01 -2.64164687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.386296757000004 meters 0.07406200338048227 Centerline is valid? [True, True] Translation: X:22.67, Y:-0.76, Z:-2.65 [[ 9.90548145e-01 1.06516332e-01 8.64213179e-02 2.26689853e+01] [-1.06565624e-01 9.94297398e-01 -4.05607179e-03 -7.57859307e-01] [-8.63605294e-02 -5.19180728e-03 9.96250422e-01 -2.64618470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.416296757 meters 0.0758287333000673 Centerline is valid? [True, True] Translation: X:22.70, Y:-0.76, Z:-2.65 [[ 9.90006484e-01 1.11539841e-01 8.62903541e-02 2.27001586e+01] [-1.11607835e-01 9.93744071e-01 -4.05114585e-03 -7.57739326e-01] [-8.62023919e-02 -5.62001896e-03 9.96261794e-01 -2.64999427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.446296757000002 meters 0.07406664362486112 Centerline is valid? [True, True] Translation: X:22.73, Y:-0.77, Z:-2.65 [[ 9.89986568e-01 1.13432715e-01 8.40215147e-02 2.27308084e+01] [-1.13503716e-01 9.93529732e-01 -3.94685348e-03 -7.66439588e-01] [-8.39255753e-02 -5.62942223e-03 9.96456124e-01 -2.65084401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.476296757000004 meters 0.07545733609307846 Centerline is valid? [True, True] Translation: X:22.76, Y:-0.77, Z:-2.66 [[ 9.89740257e-01 1.16797304e-01 8.22958903e-02 2.27601015e+01] [-1.16876778e-01 9.93138893e-01 -3.86767087e-03 -7.67645908e-01] [-8.21829829e-02 -5.79048891e-03 9.96600435e-01 -2.65510407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.506296757 meters 0.07591090829866866 Centerline is valid? [True, True] Translation: X:22.79, Y:-0.77, Z:-2.66 [[ 9.89463382e-01 1.18311818e-01 8.34537554e-02 2.27920179e+01] [-1.18399539e-01 9.92958320e-01 -3.91469694e-03 -7.67034065e-01] [-8.33292556e-02 -6.00743687e-03 9.96503962e-01 -2.65847563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.536296757000002 meters 0.07686037989281896 Centerline is valid? [True, True] Translation: X:22.82, Y:-0.76, Z:-2.66 [[ 9.88997629e-01 1.20168160e-01 8.62745752e-02 2.28230345e+01] [-1.20266811e-01 9.92733252e-01 -4.07231196e-03 -7.62260988e-01] [-8.61370018e-02 -6.34846119e-03 9.96263075e-01 -2.66236732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.566296757000003 meters 0.07750973807759415 Centerline is valid? [True, True] Translation: X:22.86, Y:-0.76, Z:-2.67 [[ 9.88861241e-01 1.21337142e-01 8.62017633e-02 2.28551143e+01] [-1.21439337e-01 9.92590483e-01 -4.07693318e-03 -7.62976795e-01] [-8.60577332e-02 -6.43676379e-03 9.96269358e-01 -2.66638809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.596296757 meters 0.07799356551828757 Centerline is valid? [True, True] Translation: X:22.89, Y:-0.77, Z:-2.67 [[ 9.89044101e-01 1.21636666e-01 8.36438180e-02 2.28865155e+01] [-1.21732012e-01 9.92555032e-01 -3.97825600e-03 -7.66622436e-01] [-8.35049943e-02 -6.24745963e-03 9.96487775e-01 -2.67043076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.626296757000002 meters 0.07891011634369594 Centerline is valid? [True, True] Translation: X:22.92, Y:-0.77, Z:-2.67 [[ 9.89111564e-01 1.22581922e-01 8.14370078e-02 2.29164594e+01] [-1.22674424e-01 9.92439362e-01 -3.88561738e-03 -7.71463484e-01] [-8.12975985e-02 -6.14692892e-03 9.96670916e-01 -2.67413132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.656296757000003 meters 0.07946493786441346 Centerline is valid? [True, True] Translation: X:22.95, Y:-0.77, Z:-2.68 [[ 9.89075298e-01 1.23323868e-01 8.07544276e-02 2.29478739e+01] [-1.23417766e-01 9.92347347e-01 -3.84683759e-03 -7.72057074e-01] [-8.06108489e-02 -6.16171905e-03 9.96726605e-01 -2.67965315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.686296757000004 meters 0.08085345330877111 Centerline is valid? [True, True] Translation: X:22.98, Y:-0.77, Z:-2.69 [[ 9.88844137e-01 1.25267678e-01 8.05933099e-02 2.29772112e+01] [-1.25365636e-01 9.92103085e-01 -3.86353754e-03 -7.70216632e-01] [-8.04408477e-02 -6.28319511e-03 9.96739581e-01 -2.68722381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.716296757000002 meters 0.08159782791051194 Centerline is valid? [True, True] Translation: X:23.01, Y:-0.77, Z:-2.69 [[ 9.88638756e-01 1.26336720e-01 8.14398147e-02 2.30086363e+01] [-1.26439973e-01 9.91966559e-01 -3.90895397e-03 -7.70791639e-01] [-8.12794172e-02 -6.43270455e-03 9.96670596e-01 -2.69123652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.746296757000003 meters 0.08065538226761251 Centerline is valid? [True, True] Translation: X:23.04, Y:-0.78, Z:-2.69 [[ 9.88492370e-01 1.27348109e-01 8.16412541e-02 2.30407642e+01] [-1.27454801e-01 9.91836615e-01 -3.92472388e-03 -7.75926443e-01] [-8.14745912e-02 -6.52601018e-03 9.96654053e-01 -2.69326448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.776296757000004 meters 0.078183335623101 Centerline is valid? [True, True] Translation: X:23.07, Y:-0.79, Z:-2.69 [[ 9.88294612e-01 1.27962461e-01 8.30624413e-02 2.30722276e+01] [-1.28073445e-01 9.91756568e-01 -4.01281946e-03 -7.86908753e-01] [-8.28912119e-02 -6.67224520e-03 9.96536265e-01 -2.69260193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.806296757000002 meters 0.07892109734958265 Centerline is valid? [True, True] Translation: X:23.10, Y:-0.79, Z:-2.70 [[ 9.88327885e-01 1.28391067e-01 8.19983243e-02 2.31025541e+01] [-1.28498452e-01 9.91701690e-01 -3.98831202e-03 -7.88166247e-01] [-8.18299404e-02 -6.59489777e-03 9.96624487e-01 -2.69617115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.836296757000003 meters 0.07962609459491835 Centerline is valid? [True, True] Translation: X:23.13, Y:-0.79, Z:-2.70 [[ 9.88285054e-01 1.29479787e-01 8.07937959e-02 2.31337825e+01] [-1.29587391e-01 9.91560207e-01 -3.93251972e-03 -7.89412267e-01] [-8.06210948e-02 -6.58340674e-03 9.96723080e-01 -2.70074076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.866296757000004 meters 0.07990114164092026 Centerline is valid? [True, True] Translation: X:23.17, Y:-0.79, Z:-2.70 [[ 9.88359040e-01 1.29205869e-01 8.03259031e-02 2.31652477e+01] [-1.29311681e-01 9.91596308e-01 -3.90526045e-03 -7.92867987e-01] [-8.01554516e-02 -6.52727810e-03 9.96761004e-01 -2.70377697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.896296757 meters 0.08036996872857768 Centerline is valid? [True, True] Translation: X:23.20, Y:-0.79, Z:-2.71 [[ 9.88257216e-01 1.29869333e-01 8.05085850e-02 2.31969919e+01] [-1.29976245e-01 9.91509305e-01 -3.93361939e-03 -7.94525001e-01] [-8.03358677e-02 -6.57677584e-03 9.96746153e-01 -2.70774150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.926296757000003 meters 0.08060998705891968 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.80, Z:-2.71 [[ 9.88285089e-01 1.29713507e-01 8.04175931e-02 2.32286731e+01] [-1.29818116e-01 9.91529963e-01 -3.94840162e-03 -7.95175302e-01] [-8.02486141e-02 -6.53751395e-03 9.96753440e-01 -2.71209185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.956296757000004 meters 0.08088289503401973 Centerline is valid? [True, True] Translation: X:23.26, Y:-0.79, Z:-2.72 [[ 9.88332231e-01 1.28078404e-01 8.24337545e-02 2.32584715e+01] [-1.28180413e-01 9.91742493e-01 -4.07554328e-03 -7.94620149e-01] [-8.22750462e-02 -6.53840192e-03 9.96588213e-01 -2.71507085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.986296757 meters 0.0801353665825023 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.80, Z:-2.72 [[ 9.88370469e-01 1.26015931e-01 8.51105206e-02 2.32893345e+01] [-1.26117207e-01 9.92006425e-01 -4.20735877e-03 -7.98825968e-01] [-8.49603775e-02 -6.57547199e-03 9.96362633e-01 -2.71780451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.016296757000003 meters 0.08033885049667452 Centerline is valid? [True, True] Translation: X:23.32, Y:-0.80, Z:-2.72 [[ 9.88526624e-01 1.24868679e-01 8.49878081e-02 2.33195231e+01] [-1.24965325e-01 9.92152208e-01 -4.20277509e-03 -8.01024229e-01] [-8.48456364e-02 -6.46597401e-03 9.96373127e-01 -2.72133257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.046296757000004 meters 0.0798461643371152 Centerline is valid? [True, True] Translation: X:23.35, Y:-0.81, Z:-2.72 [[ 9.88752758e-01 1.23401990e-01 8.44981224e-02 2.33508419e+01] [-1.23492164e-01 9.92336748e-01 -4.17892034e-03 -8.05344640e-01] [-8.43662791e-02 -6.30293701e-03 9.96414875e-01 -2.72408869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.076296757 meters 0.07948270749701118 Centerline is valid? [True, True] Translation: X:23.38, Y:-0.81, Z:-2.73 [[ 9.88799082e-01 1.22769903e-01 8.48759525e-02 2.33831928e+01] [-1.22858420e-01 9.92415323e-01 -4.19953656e-03 -8.08562854e-01] [-8.47477724e-02 -6.27522753e-03 9.96382676e-01 -2.72757943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.106296757000003 meters 0.0770846502053357 Centerline is valid? [True, True] Translation: X:23.41, Y:-0.81, Z:-2.73 [[ 9.89036296e-01 1.20330051e-01 8.56030560e-02 2.34136938e+01] [-1.20409825e-01 9.92715173e-01 -4.24961921e-03 -8.12199816e-01] [-8.54908095e-02 -6.10442131e-03 9.96320259e-01 -2.72988452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.136296757000004 meters 0.07952502329841508 Centerline is valid? [True, True] Translation: X:23.44, Y:-0.81, Z:-2.74 [[ 9.89002119e-01 1.21013984e-01 8.50319021e-02 2.34448264e+01] [-1.21095516e-01 9.92631900e-01 -4.21745746e-03 -8.05818243e-01] [-8.49157498e-02 -6.12590773e-03 9.96369303e-01 -2.73592232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.166296757 meters 0.07688469943495385 Centerline is valid? [True, True] Translation: X:23.48, Y:-0.81, Z:-2.74 [[ 9.89075420e-01 1.21319832e-01 8.37335817e-02 2.34763322e+01] [-1.21398435e-01 9.92595095e-01 -4.17110080e-03 -8.11117433e-01] [-8.36195797e-02 -6.03959254e-03 9.96479447e-01 -2.73643094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.196296757000002 meters 0.07708170880766008 Centerline is valid? [True, True] Translation: X:23.51, Y:-0.81, Z:-2.74 [[ 9.89152445e-01 1.20856990e-01 8.34926867e-02 2.35083563e+01] [-1.20931970e-01 9.92652008e-01 -4.17737080e-03 -8.11857281e-01] [-8.33840475e-02 -5.96487854e-03 9.96499634e-01 -2.74006033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.226296757000004 meters 0.07736764287550539 Centerline is valid? [True, True] Translation: X:23.54, Y:-0.81, Z:-2.74 [[ 9.89291579e-01 1.21271388e-01 8.12122109e-02 2.35397993e+01] [-1.21342073e-01 9.92602353e-01 -4.08280645e-03 -8.12771592e-01] [-8.11065592e-02 -5.81537198e-03 9.96688471e-01 -2.74364636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.256296757 meters 0.07797975514264077 Centerline is valid? [True, True] Translation: X:23.57, Y:-0.81, Z:-2.75 [[ 9.89213525e-01 1.21917791e-01 8.11951614e-02 2.35704442e+01] [-1.21988843e-01 9.92522988e-01 -4.10364384e-03 -8.11284894e-01] [-8.10883714e-02 -5.84552385e-03 9.96689774e-01 -2.74673419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.286296757000002 meters 0.07887133706915145 Centerline is valid? [True, True] Translation: X:23.60, Y:-0.80, Z:-2.75 [[ 9.88898213e-01 1.23337447e-01 8.28745977e-02 2.36016003e+01] [-1.23415884e-01 9.92346168e-01 -4.19544308e-03 -8.04835929e-01] [-8.27577448e-02 -6.07917559e-03 9.96551152e-01 -2.75294381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.316296757000003 meters 0.07945303946564487 Centerline is valid? [True, True] Translation: X:23.63, Y:-0.80, Z:-2.76 [[ 9.88898692e-01 1.24170326e-01 8.16156061e-02 2.36334332e+01] [-1.24247327e-01 9.92242582e-01 -4.15442158e-03 -8.02420518e-01] [-8.14983357e-02 -6.03221886e-03 9.96655223e-01 -2.75861255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.346296757 meters 0.08005847187433886 Centerline is valid? [True, True] Translation: X:23.66, Y:-0.80, Z:-2.76 [[ 9.88919335e-01 1.24667108e-01 8.06018731e-02 2.36646555e+01] [-1.24743539e-01 9.92180522e-01 -4.10634068e-03 -8.01585199e-01] [-8.04835341e-02 -5.99372321e-03 9.96737917e-01 -2.76415467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.376296757000002 meters 0.07893539847878345 Centerline is valid? [True, True] Translation: X:23.70, Y:-0.81, Z:-2.77 [[ 9.88912342e-01 1.25261592e-01 7.97615996e-02 2.36960724e+01] [-1.25337880e-01 9.92105769e-01 -4.06927076e-03 -8.06673001e-01] [-7.96416665e-02 -5.97299773e-03 9.96805662e-01 -2.76690119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.406296757000003 meters 0.07731137173205166 Centerline is valid? [True, True] Translation: X:23.73, Y:-0.82, Z:-2.77 [[ 9.89229672e-01 1.24412190e-01 7.71120198e-02 2.37278925e+01] [-1.24479689e-01 9.92214296e-01 -3.94946958e-03 -8.17202969e-01] [-7.70030106e-02 -5.69194775e-03 9.97014613e-01 -2.76736617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.436296757000004 meters 0.0808159437656506 Centerline is valid? [True, True] Translation: X:23.76, Y:-0.81, Z:-2.77 [[ 9.89451492e-01 1.22264578e-01 7.76988958e-02 2.37578656e+01] [-1.22324313e-01 9.92482089e-01 -4.00817515e-03 -8.12074803e-01] [-7.76048203e-02 -5.53856913e-03 9.96968814e-01 -2.77387133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.466296757000002 meters 0.08079513311977107 Centerline is valid? [True, True] Translation: X:23.79, Y:-0.81, Z:-2.78 [[ 9.89452361e-01 1.22170841e-01 7.78351568e-02 2.37895756e+01] [-1.22231166e-01 9.92493571e-01 -4.00665666e-03 -8.11461428e-01] [-7.77403894e-02 -5.54948608e-03 9.96958191e-01 -2.77862273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.496296757000003 meters 0.07753868994266694 Centerline is valid? [True, True] Translation: X:23.82, Y:-0.82, Z:-2.78 [[ 9.89365758e-01 1.22606502e-01 7.82498780e-02 2.38222798e+01] [-1.22667566e-01 9.92439576e-01 -4.04415923e-03 -8.17482553e-01] [-7.81541160e-02 -5.59756943e-03 9.96925575e-01 -2.77908308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.526296757000004 meters 0.07856659158527672 Centerline is valid? [True, True] Translation: X:23.85, Y:-0.81, Z:-2.78 [[ 9.89087362e-01 1.23807174e-01 7.98622176e-02 2.38536445e+01] [-1.23872738e-01 9.92289426e-01 -4.15202909e-03 -8.12053388e-01] [-7.97604850e-02 -5.78603207e-03 9.96797265e-01 -2.78370279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.556296757000002 meters 0.07856659158527672 Centerline is valid? [True, True] Translation: X:23.89, Y:-0.81, Z:-2.79 [[ 9.89053807e-01 1.24075482e-01 7.98613878e-02 2.38859168e+01] [-1.24140638e-01 9.92255879e-01 -4.16791733e-03 -8.13835243e-01] [-7.97600679e-02 -5.79174916e-03 9.96797265e-01 -2.78747431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.586296757000003 meters 0.0788557869278209 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.82, Z:-2.79 [[ 9.88981668e-01 1.23841394e-01 8.11083867e-02 2.39180016e+01] [-1.23905916e-01 9.92284840e-01 -4.25675030e-03 -8.15246304e-01] [-8.10097844e-02 -5.83996095e-03 9.96696197e-01 -2.79015693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.616296757000004 meters 0.07897536259043032 Centerline is valid? [True, True] Translation: X:23.95, Y:-0.82, Z:-2.79 [[ 9.89068109e-01 1.23099101e-01 8.11842818e-02 2.39497042e+01] [-1.23159695e-01 9.92377635e-01 -4.27998860e-03 -8.19037975e-01] [-8.10923283e-02 -5.76543116e-03 9.96689919e-01 -2.79301302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.646296757 meters 0.07962302453568387 Centerline is valid? [True, True] Translation: X:23.98, Y:-0.82, Z:-2.80 [[ 9.89321533e-01 1.22619300e-01 7.87871318e-02 2.39807442e+01] [-1.22673357e-01 9.92438332e-01 -4.17200880e-03 -8.22146420e-01] [-7.87029384e-02 -5.53762378e-03 9.96882732e-01 -2.79713676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.676296757000003 meters 0.07951562075479254 Centerline is valid? [True, True] Translation: X:24.01, Y:-0.82, Z:-2.80 [[ 9.89551001e-01 1.21389441e-01 7.78037256e-02 2.40127543e+01] [-1.21437113e-01 9.92590511e-01 -4.13593346e-03 -8.22892211e-01] [-7.77292984e-02 -5.35554270e-03 9.96960117e-01 -2.80247964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.706296757000004 meters 0.0756723737972777 Centerline is valid? [True, True] Translation: X:24.04, Y:-0.83, Z:-2.80 [[ 9.89698534e-01 1.19726677e-01 7.85005355e-02 2.40438383e+01] [-1.19768004e-01 9.92793028e-01 -4.19859818e-03 -8.29644827e-01] [-7.84374686e-02 -5.24650597e-03 9.96905230e-01 -2.80439916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.736296757 meters 0.08028345020854197 Centerline is valid? [True, True] Translation: X:24.08, Y:-0.82, Z:-2.81 [[ 9.89514055e-01 1.20089632e-01 8.02522020e-02 2.40750724e+01] [-1.20134352e-01 9.92748380e-01 -4.28845403e-03 -8.17084473e-01] [-8.01852424e-02 -5.39756078e-03 9.96765365e-01 -2.81435313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.766296757000003 meters 0.07621305402836288 Centerline is valid? [True, True] Translation: X:24.11, Y:-0.83, Z:-2.81 [[ 9.89454559e-01 1.18237762e-01 8.36630599e-02 2.41061233e+01] [-1.18277593e-01 9.92970383e-01 -4.49771249e-03 -8.26129610e-01] [-8.36067401e-02 -5.44518320e-03 9.96483950e-01 -2.81050643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.796296757000004 meters 0.08016146574502195 Centerline is valid? [True, True] Translation: X:24.14, Y:-0.82, Z:-2.82 [[ 9.89550655e-01 1.16894203e-01 8.44111765e-02 2.41366811e+01] [-1.16929825e-01 9.93129808e-01 -4.53887769e-03 -8.18303506e-01] [-8.43618240e-02 -5.37873472e-03 9.96420670e-01 -2.81712831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.826296757 meters 0.07604144589655883 Centerline is valid? [True, True] Translation: X:24.17, Y:-0.83, Z:-2.82 [[ 9.89848664e-01 1.14670575e-01 8.39659530e-02 2.41681035e+01] [-1.14697659e-01 9.93390176e-01 -4.51728566e-03 -8.31488180e-01] [-8.39289526e-02 -5.15926907e-03 9.96458385e-01 -2.81576805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.856296757000003 meters 0.0744461285201846 Centerline is valid? [True, True] Translation: X:24.20, Y:-0.84, Z:-2.82 [[ 9.90495026e-01 1.10816900e-01 8.14813922e-02 2.41995290e+01] [-1.10829123e-01 9.93829795e-01 -4.38678322e-03 -8.37424985e-01] [-8.14647650e-02 -4.68542429e-03 9.96665209e-01 -2.81977082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.886296757000004 meters 0.0757876341346649 Centerline is valid? [True, True] Translation: X:24.23, Y:-0.83, Z:-2.83 [[ 9.90625261e-01 1.09892101e-01 8.11499724e-02 2.42302655e+01] [-1.09901040e-01 9.93932927e-01 -4.37007447e-03 -8.33497050e-01] [-8.11378663e-02 -4.58936021e-03 9.96692322e-01 -2.82808578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.916296757 meters 0.07478358636193551 Centerline is valid? [True, True] Translation: X:24.26, Y:-0.84, Z:-2.83 [[ 9.90762480e-01 1.09695200e-01 7.97287415e-02 2.42624416e+01] [-1.09701810e-01 9.93955196e-01 -4.31057958e-03 -8.36987567e-01] [-7.97196467e-02 -4.47562674e-03 9.96807277e-01 -2.83113525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.946296757000002 meters 0.07491749061104253 Centerline is valid? [True, True] Translation: X:24.29, Y:-0.84, Z:-2.84 [[ 9.90916722e-01 1.07851504e-01 8.03249869e-02 2.42923631e+01] [-1.07849969e-01 9.94157575e-01 -4.37038710e-03 -8.35359208e-01] [-8.03270470e-02 -4.33235771e-03 9.96759147e-01 -2.83727310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.976296757000004 meters 0.07497921294551686 Centerline is valid? [True, True] Translation: X:24.32, Y:-0.84, Z:-2.84 [[ 9.90990501e-01 1.06915089e-01 8.06659228e-02 2.43233330e+01] [-1.06910916e-01 9.94258942e-01 -4.38328197e-03 -8.35866194e-01] [-8.06714540e-02 -4.28027689e-03 9.96731557e-01 -2.84169681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.006296757 meters 0.07489378523234796 Centerline is valid? [True, True] Translation: X:24.36, Y:-0.84, Z:-2.84 [[ 9.90997054e-01 1.06435734e-01 8.12174397e-02 2.43552814e+01] [-1.06428477e-01 9.94310488e-01 -4.43081655e-03 -8.38114619e-01] [-8.12269493e-02 -4.25292226e-03 9.96686558e-01 -2.84446178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.036296757000002 meters 0.07380831783473346 Centerline is valid? [True, True] Translation: X:24.39, Y:-0.84, Z:-2.85 [[ 9.91009541e-01 1.06630141e-01 8.08090567e-02 2.43882294e+01] [-1.06622181e-01 9.94289757e-01 -4.42596787e-03 -8.44512177e-01] [-8.08195589e-02 -4.22986145e-03 9.96719774e-01 -2.84535612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.066296757000003 meters 0.07543077868336133 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.84, Z:-2.85 [[ 9.90857814e-01 1.08028409e-01 8.08124694e-02 2.44194443e+01] [-1.08023084e-01 9.94138423e-01 -4.45073824e-03 -8.39635490e-01] [-8.08195871e-02 -4.31956341e-03 9.96719387e-01 -2.85136748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.096296757 meters 0.07587304678865786 Centerline is valid? [True, True] Translation: X:24.45, Y:-0.84, Z:-2.86 [[ 9.90572557e-01 1.09691506e-01 8.20596243e-02 2.44512009e+01] [-1.09690169e-01 9.93955468e-01 -4.53817606e-03 -8.36797984e-01] [-8.20614117e-02 -4.50574136e-03 9.96617089e-01 -2.85584714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.126296757000002 meters 0.07530603513311197 Centerline is valid? [True, True] Translation: X:24.48, Y:-0.84, Z:-2.86 [[ 9.90106289e-01 1.12796847e-01 8.34650066e-02 2.44826852e+01] [-1.12804774e-01 9.93606356e-01 -4.63605008e-03 -8.35263396e-01] [-8.34542928e-02 -4.82506888e-03 9.96499925e-01 -2.85865702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.156296757000003 meters 0.07587822934088348 Centerline is valid? [True, True] Translation: X:24.51, Y:-0.84, Z:-2.86 [[ 9.89889959e-01 1.14192996e-01 8.41298327e-02 2.45149389e+01] [-1.14204531e-01 9.93446182e-01 -4.69129572e-03 -8.35922228e-01] [-8.41141743e-02 -4.96414153e-03 9.96443758e-01 -2.86272144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.186296757000004 meters 0.07625071228462768 Centerline is valid? [True, True] Translation: X:24.55, Y:-0.84, Z:-2.87 [[ 9.89866749e-01 1.14923557e-01 8.34050049e-02 2.45464415e+01] [-1.14935813e-01 9.93361941e-01 -4.67056257e-03 -8.38416227e-01] [-8.33881152e-02 -4.96298742e-03 9.96504787e-01 -2.86612974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.216296757000002 meters 0.07658719078738528 Centerline is valid? [True, True] Translation: X:24.58, Y:-0.84, Z:-2.87 [[ 9.89832643e-01 1.14510350e-01 8.43725014e-02 2.45774133e+01] [-1.14519651e-01 9.93409648e-01 -4.74559118e-03 -8.42195656e-01] [-8.43598762e-02 -4.96496836e-03 9.96422983e-01 -2.86898931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.246296757000003 meters 0.07641458784237232 Centerline is valid? [True, True] Translation: X:24.61, Y:-0.84, Z:-2.87 [[ 9.89734751e-01 1.14234678e-01 8.58810823e-02 2.46091009e+01] [-1.14241694e-01 9.93441151e-01 -4.84920425e-03 -8.44240458e-01] [-8.58717485e-02 -5.01177439e-03 9.96293594e-01 -2.87281959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.276296757000004 meters 0.07650968264613146 Centerline is valid? [True, True] Translation: X:24.64, Y:-0.84, Z:-2.88 [[ 9.89775032e-01 1.12419643e-01 8.77907209e-02 2.46386756e+01] [-1.12417488e-01 9.93648561e-01 -4.98452012e-03 -8.43073907e-01] [-8.77934815e-02 -4.93565872e-03 9.96126470e-01 -2.87770548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.306296757000002 meters 0.0764351292480391 Centerline is valid? [True, True] Translation: X:24.67, Y:-0.84, Z:-2.88 [[ 9.89922705e-01 1.11942635e-01 8.67288005e-02 2.46699221e+01] [-1.11939228e-01 9.93702884e-01 -4.91803893e-03 -8.44503908e-01] [-8.67331975e-02 -4.83987661e-03 9.96219819e-01 -2.88316174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.336296757000003 meters 0.07588969330454204 Centerline is valid? [True, True] Translation: X:24.70, Y:-0.85, Z:-2.89 [[ 9.90225519e-01 1.11130107e-01 8.42823827e-02 2.47018058e+01] [-1.11122354e-01 9.93795152e-01 -4.79780714e-03 -8.48540503e-01] [-8.42926041e-02 -4.61474568e-03 9.96430359e-01 -2.88742404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.366296757000004 meters 0.07665505397196261 Centerline is valid? [True, True] Translation: X:24.73, Y:-0.85, Z:-2.89 [[ 9.90366344e-01 1.10648898e-01 8.32545798e-02 2.47329942e+01] [-1.10638074e-01 9.93849375e-01 -4.75785593e-03 -8.50037298e-01] [-8.32689636e-02 -4.49910598e-03 9.96516953e-01 -2.89328664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.396296757 meters 0.07549214769610679 Centerline is valid? [True, True] Translation: X:24.76, Y:-0.86, Z:-2.89 [[ 9.90815682e-01 1.06448672e-01 8.33844417e-02 2.47632362e+01] [-1.06420660e-01 9.94309644e-01 -4.79324349e-03 -8.60880810e-01] [-8.34201889e-02 -4.12460649e-03 9.96505926e-01 -2.89448853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.426296757000003 meters 0.0725154927453428 Centerline is valid? [True, True] Translation: X:24.79, Y:-0.87, Z:-2.89 [[ 9.90879401e-01 1.03231065e-01 8.66103876e-02 2.47939136e+01] [-1.03188447e-01 9.94649352e-01 -4.98098931e-03 -8.74647967e-01] [-8.66611588e-02 -4.00163166e-03 9.96229808e-01 -2.89063157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.456296757000004 meters 0.07243644629615656 Centerline is valid? [True, True] Translation: X:24.83, Y:-0.88, Z:-2.89 [[ 9.90763055e-01 1.02760188e-01 8.84811430e-02 2.48251545e+01] [-1.02714267e-01 9.94697910e-01 -5.08405663e-03 -8.75266538e-01] [-8.85344466e-02 -4.05118027e-03 9.96064877e-01 -2.89460819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.486296757 meters 0.07256414750614663 Centerline is valid? [True, True] Translation: X:24.86, Y:-0.87, Z:-2.90 [[ 9.90576730e-01 1.03706573e-01 8.94577527e-02 2.48574248e+01] [-1.03661594e-01 9.94599234e-01 -5.16126538e-03 -8.74993091e-01] [-8.95098694e-02 -4.16070384e-03 9.95977245e-01 -2.89918784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.516296757000003 meters 0.07292762440614536 Centerline is valid? [True, True] Translation: X:24.89, Y:-0.87, Z:-2.90 [[ 9.90405009e-01 1.05208713e-01 8.96049405e-02 2.48896383e+01] [-1.05167382e-01 9.94440962e-01 -5.19560081e-03 -8.74684571e-01] [-8.96534457e-02 -4.27776797e-03 9.95963835e-01 -2.90309182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.546296757000004 meters 0.07391871917895722 Centerline is valid? [True, True] Translation: X:24.92, Y:-0.87, Z:-2.91 [[ 9.90031799e-01 1.08794339e-01 8.94473485e-02 2.49197996e+01] [-1.08765260e-01 9.94053789e-01 -5.21377526e-03 -8.73781869e-01] [-8.94827048e-02 -4.56696085e-03 9.95977906e-01 -2.90764644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.576296757 meters 0.07561781425989618 Centerline is valid? [True, True] Translation: X:24.95, Y:-0.87, Z:-2.91 [[ 9.89733674e-01 1.13291491e-01 8.71337674e-02 2.49493835e+01] [-1.13281044e-01 9.93549995e-01 -5.08065461e-03 -8.74637956e-01] [-8.71473491e-02 -4.84210922e-03 9.96183665e-01 -2.91117989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.606296757000003 meters 0.07422008531188592 Centerline is valid? [True, True] Translation: X:24.98, Y:-0.88, Z:-2.91 [[ 9.89510292e-01 1.15489166e-01 8.67849910e-02 2.49807772e+01] [-1.15487226e-01 9.93296077e-01 -5.06005979e-03 -8.82024010e-01] [-8.67875732e-02 -5.01557660e-03 9.96214214e-01 -2.91086854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.636296757000004 meters 0.07455261457129135 Centerline is valid? [True, True] Translation: X:25.01, Y:-0.88, Z:-2.92 [[ 9.89328965e-01 1.17147802e-01 8.66290434e-02 2.50126625e+01] [-1.17152011e-01 9.93101140e-01 -5.05301229e-03 -8.82245587e-01] [-8.66233510e-02 -5.14967524e-03 9.96227823e-01 -2.91549186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.666296757 meters 0.0747923593083968 Centerline is valid? [True, True] Translation: X:25.04, Y:-0.88, Z:-2.92 [[ 9.89180227e-01 1.18448971e-01 8.65581851e-02 2.50448679e+01] [-1.18458033e-01 9.92946218e-01 -5.04994330e-03 -8.81731809e-01] [-8.65457832e-02 -5.25820829e-03 9.96233998e-01 -2.91991639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.696296757000002 meters 0.0753229693347795 Centerline is valid? [True, True] Translation: X:25.08, Y:-0.88, Z:-2.92 [[ 9.88855433e-01 1.21609227e-01 8.58843927e-02 2.50757206e+01] [-1.21627643e-01 9.92563014e-01 -5.03776639e-03 -8.78642855e-01] [-8.58583106e-02 -5.46429358e-03 9.96292373e-01 -2.92484458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.726296757000004 meters 0.0764966975385349 Centerline is valid? [True, True] Translation: X:25.11, Y:-0.88, Z:-2.93 [[ 9.88943095e-01 1.22054736e-01 8.42270518e-02 2.51063780e+01] [-1.22074288e-01 9.92508685e-01 -4.93737997e-03 -8.80413180e-01] [-8.41987110e-02 -5.39916956e-03 9.96434356e-01 -2.93016085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.756296757 meters 0.0768077728263129 Centerline is valid? [True, True] Translation: X:25.14, Y:-0.89, Z:-2.93 [[ 9.89038336e-01 1.22176058e-01 8.29227377e-02 2.51378782e+01] [-1.22193907e-01 9.92494254e-01 -4.87895914e-03 -8.86352380e-01] [-8.28964327e-02 -5.30717569e-03 9.96544036e-01 -2.93369420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.786296757000002 meters 0.07683541421813096 Centerline is valid? [True, True] Translation: X:25.17, Y:-0.89, Z:-2.94 [[ 9.89151573e-01 1.21466619e-01 8.26137179e-02 2.51692364e+01] [-1.21480233e-01 9.92581852e-01 -4.88052262e-03 -8.92168129e-01] [-8.25936977e-02 -5.20835705e-03 9.96569694e-01 -2.93676153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.816296757000003 meters 0.07702203145601562 Centerline is valid? [True, True] Translation: X:25.20, Y:-0.89, Z:-2.94 [[ 9.89081468e-01 1.21537988e-01 8.33448721e-02 2.52004423e+01] [-1.21550420e-01 9.92572946e-01 -4.94392172e-03 -8.93934966e-01] [-8.33267395e-02 -5.24066287e-03 9.96508500e-01 -2.94171061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.846296757000005 meters 0.07717264616628092 Centerline is valid? [True, True] Translation: X:25.23, Y:-0.89, Z:-2.95 [[ 9.89024544e-01 1.21516053e-01 8.40493889e-02 2.52321415e+01] [-1.21526929e-01 9.92575512e-01 -5.00590480e-03 -8.93931687e-01] [-8.40336630e-02 -5.26330137e-03 9.96449016e-01 -2.94723340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.876296757000002 meters 0.07723531987709677 Centerline is valid? [True, True] Translation: X:25.26, Y:-0.90, Z:-2.95 [[ 9.89364994e-01 1.20170601e-01 8.19508142e-02 2.52623647e+01] [-1.20174734e-01 9.92740662e-01 -4.90009899e-03 -9.00124550e-01] [-8.19447534e-02 -5.00043087e-03 9.96624329e-01 -2.95119422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.906296757000003 meters 0.07713944366477221 Centerline is valid? [True, True] Translation: X:25.29, Y:-0.91, Z:-2.95 [[ 9.89662188e-01 1.19025270e-01 8.00108711e-02 2.52934664e+01] [-1.19024155e-01 9.92879755e-01 -4.80028461e-03 -9.07769912e-01] [-8.00125292e-02 -4.77256614e-03 9.96782433e-01 -2.95456057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.936296757000004 meters 0.07704972823043928 Centerline is valid? [True, True] Translation: X:25.32, Y:-0.91, Z:-2.96 [[ 9.89981480e-01 1.17230601e-01 7.86997750e-02 2.53241462e+01] [-1.17222163e-01 9.93094390e-01 -4.74310801e-03 -9.14811123e-01] [-7.87123424e-02 -4.52976880e-03 9.96887079e-01 -2.95739829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.966296757000002 meters 0.07339758080202649 Centerline is valid? [True, True] Translation: X:25.36, Y:-0.93, Z:-2.95 [[ 9.90105425e-01 1.15031452e-01 8.03679808e-02 2.53550594e+01] [-1.15014267e-01 9.93351958e-01 -4.85851152e-03 -9.31890038e-01] [-8.03925727e-02 -4.43302576e-03 9.96753421e-01 -2.95249843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.996296757000003 meters 0.07350790890453426 Centerline is valid? [True, True] Translation: X:25.39, Y:-0.93, Z:-2.96 [[ 9.90073834e-01 1.14480330e-01 8.15356182e-02 2.53857866e+01] [-1.14461245e-01 9.93415513e-01 -4.92364063e-03 -9.32709535e-01] [-8.15624080e-02 -4.45790061e-03 9.96658267e-01 -2.95710397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.026296757000004 meters 0.07217897551618531 Centerline is valid? [True, True] Translation: X:25.42, Y:-0.94, Z:-2.96 [[ 9.90067565e-01 1.13921606e-01 8.23898372e-02 2.54176426e+01] [-1.13898681e-01 9.93479821e-01 -4.99365472e-03 -9.40756829e-01] [-8.24215258e-02 -4.44003822e-03 9.96587667e-01 -2.95906827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.056296757000002 meters 0.07216147303949272 Centerline is valid? [True, True] Translation: X:25.45, Y:-0.94, Z:-2.96 [[ 9.90156206e-01 1.13508711e-01 8.18929815e-02 2.54489942e+01] [-1.13482937e-01 9.93527443e-01 -4.98436493e-03 -9.44925428e-01] [-8.19286933e-02 -4.35815620e-03 9.96628665e-01 -2.96216079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.086296757000003 meters 0.07649095027252108 Centerline is valid? [True, True] Translation: X:25.48, Y:-0.94, Z:-2.98 [[ 9.90300352e-01 1.13529821e-01 8.01011410e-02 2.54793423e+01] [-1.13503551e-01 9.93525528e-01 -4.89592508e-03 -9.35183897e-01] [-8.01383619e-02 -4.24332759e-03 9.96774717e-01 -2.97511729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.116296757000004 meters 0.07228582547499666 Centerline is valid? [True, True] Translation: X:25.51, Y:-0.96, Z:-2.97 [[ 9.90518316e-01 1.12894657e-01 7.82832167e-02 2.55115363e+01] [-1.12866212e-01 9.93598590e-01 -4.80206985e-03 -9.56774585e-01] [-7.83242217e-02 -4.07899201e-03 9.96919595e-01 -2.96874821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.146296757 meters 0.07226984166830078 Centerline is valid? [True, True] Translation: X:25.54, Y:-0.96, Z:-2.97 [[ 9.90368252e-01 1.13308642e-01 7.95730907e-02 2.55430304e+01] [-1.13278947e-01 9.93551132e-01 -4.90186783e-03 -9.60256965e-01] [-7.96153583e-02 -4.15930168e-03 9.96816982e-01 -2.97164376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.176296757000003 meters 0.07352372079846022 Centerline is valid? [True, True] Translation: X:25.57, Y:-0.96, Z:-2.98 [[ 9.90212831e-01 1.15261098e-01 7.86983409e-02 2.55736455e+01] [-1.15236582e-01 9.93326145e-01 -4.86820972e-03 -9.57276576e-01] [-7.87342348e-02 -4.24836409e-03 9.96886589e-01 -2.97929612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.206296757000004 meters 0.07290193181673932 Centerline is valid? [True, True] Translation: X:25.61, Y:-0.96, Z:-2.98 [[ 9.90070050e-01 1.16957422e-01 7.79888252e-02 2.56050245e+01] [-1.16937186e-01 9.93127509e-01 -4.84206440e-03 -9.59432392e-01] [-7.80191630e-02 -4.32581083e-03 9.96942475e-01 -2.98283045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.236296757 meters 0.07342597478343837 Centerline is valid? [True, True] Translation: X:25.64, Y:-0.96, Z:-2.99 [[ 9.89911684e-01 1.18701795e-01 7.73611072e-02 2.56358648e+01] [-1.18685226e-01 9.92920191e-01 -4.82822460e-03 -9.59014803e-01] [-7.73865243e-02 -4.40210458e-03 9.96991448e-01 -2.98840306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.266296757000003 meters 0.07449527947529591 Centerline is valid? [True, True] Translation: X:25.67, Y:-0.96, Z:-2.99 [[ 9.89429449e-01 1.22290124e-01 7.79390201e-02 2.56660184e+01] [-1.22284117e-01 9.92483199e-01 -4.86774190e-03 -9.60742645e-01] [-7.79484447e-02 -4.71441705e-03 9.96946244e-01 -2.99150528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.296296757000004 meters 0.07472295560556755 Centerline is valid? [True, True] Translation: X:25.70, Y:-0.96, Z:-2.99 [[ 9.89130972e-01 1.24131775e-01 7.88113158e-02 2.56975072e+01] [-1.24132002e-01 9.92253539e-01 -4.91534877e-03 -9.64479124e-01] [-7.88109579e-02 -4.92108272e-03 9.96877433e-01 -2.99446250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.326296757 meters 0.0760753098626108 Centerline is valid? [True, True] Translation: X:25.73, Y:-0.97, Z:-3.00 [[ 9.88758479e-01 1.27372851e-01 7.83123653e-02 2.57266814e+01] [-1.27381134e-01 9.91841689e-01 -4.91017695e-03 -9.67648263e-01] [-7.82988920e-02 -5.12053883e-03 9.96916779e-01 -2.99936743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.356296757000003 meters 0.07662346750545006 Centerline is valid? [True, True] Translation: X:25.76, Y:-0.97, Z:-3.00 [[ 9.88506270e-01 1.28687354e-01 7.93405301e-02 2.57581959e+01] [-1.28700250e-01 9.91671074e-01 -4.97251866e-03 -9.68412984e-01] [-7.93196090e-02 -5.29578018e-03 9.96835169e-01 -3.00484754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.386296757000004 meters 0.07721784237381413 Centerline is valid? [True, True] Translation: X:25.79, Y:-0.97, Z:-3.01 [[ 9.88289804e-01 1.30313882e-01 7.93823408e-02 2.57900229e+01] [-1.30329999e-01 9.91458062e-01 -5.00034918e-03 -9.67715381e-01] [-7.93558766e-02 -5.40410629e-03 9.96831701e-01 -3.01111999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.416296757 meters 0.07721784237381413 Centerline is valid? [True, True] Translation: X:25.82, Y:-0.97, Z:-3.01 [[ 9.88254641e-01 1.30580204e-01 7.93824637e-02 2.58222543e+01] [-1.30597329e-01 9.91422893e-01 -4.99842154e-03 -9.69850128e-01] [-7.93542867e-02 -5.42742448e-03 9.96831701e-01 -3.01488404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.446296757000002 meters 0.0775563292352605 Centerline is valid? [True, True] Translation: X:25.85, Y:-0.97, Z:-3.02 [[ 9.88052928e-01 1.30955321e-01 8.12533969e-02 2.58538857e+01] [-1.30972595e-01 9.91372663e-01 -5.14032573e-03 -9.72992863e-01] [-8.12255495e-02 -5.56305440e-03 9.96680221e-01 -3.01991208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.476296757000004 meters 0.07780831517528984 Centerline is valid? [True, True] Translation: X:25.89, Y:-0.98, Z:-3.02 [[ 9.88092953e-01 1.30825856e-01 8.09747635e-02 2.58858841e+01] [-1.30841025e-01 9.91390028e-01 -5.14177282e-03 -9.78157687e-01] [-8.09502499e-02 -5.51427158e-03 9.96702889e-01 -3.02405417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.506296757 meters 0.07846510837367096 Centerline is valid? [True, True] Translation: X:25.92, Y:-0.99, Z:-3.03 [[ 9.88124309e-01 1.30377779e-01 8.13141140e-02 2.59165718e+01] [-1.30389949e-01 9.91449240e-01 -5.18324933e-03 -9.85250345e-01] [-8.12945971e-02 -5.48084855e-03 9.96675047e-01 -3.02853298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.536296757000002 meters 0.07862179782855472 Centerline is valid? [True, True] Translation: X:25.95, Y:-0.99, Z:-3.03 [[ 9.87915262e-01 1.30830229e-01 8.31076835e-02 2.59480211e+01] [-1.30843048e-01 9.91388843e-01 -5.31581618e-03 -9.89147452e-01] [-8.30874997e-02 -5.62248668e-03 9.96526395e-01 -3.03141181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.566296757000003 meters 0.07872260961062073 Centerline is valid? [True, True] Translation: X:25.98, Y:-0.99, Z:-3.03 [[ 9.87619436e-01 1.30608526e-01 8.68864871e-02 2.59783669e+01] [-1.30619354e-01 9.91416860e-01 -5.58523531e-03 -9.91238661e-01] [-8.68702076e-02 -5.83296989e-03 9.96202561e-01 -3.03382496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.596296757000005 meters 0.07687073939820492 Centerline is valid? [True, True] Translation: X:26.01, Y:-1.00, Z:-3.04 [[ 9.87444883e-01 1.31610771e-01 8.73567815e-02 2.60103002e+01] [-1.31626043e-01 9.91283564e-01 -5.61069432e-03 -9.97905446e-01] [-8.73337695e-02 -5.95817605e-03 9.96161289e-01 -3.03526301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.626296757000002 meters 0.07559330653584181 Centerline is valid? [True, True] Translation: X:26.04, Y:-1.00, Z:-3.04 [[ 9.87454975e-01 1.32028476e-01 8.66092024e-02 2.60421238e+01] [-1.32043298e-01 9.91228227e-01 -5.58301522e-03 -1.00274580e+00] [-8.65866031e-02 -5.92318857e-03 9.96226719e-01 -3.03858377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.656296757000003 meters 0.0759064581881099 Centerline is valid? [True, True] Translation: X:26.07, Y:-1.00, Z:-3.04 [[ 9.87443839e-01 1.31945611e-01 8.68620788e-02 2.60734846e+01] [-1.31958329e-01 9.91239328e-01 -5.62086239e-03 -1.00487399e+00] [-8.68427567e-02 -5.91188880e-03 9.96204490e-01 -3.04259368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.686296757000004 meters 0.07661455492871176 Centerline is valid? [True, True] Translation: X:26.10, Y:-1.01, Z:-3.05 [[ 9.87429197e-01 1.31618053e-01 8.75229582e-02 2.61042539e+01] [-1.31627746e-01 9.91282910e-01 -5.68590233e-03 -1.01082203e+00] [-8.75083801e-02 -5.90602370e-03 9.96146276e-01 -3.04560023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.716296757000002 meters 0.07715334972280026 Centerline is valid? [True, True] Translation: X:26.14, Y:-1.02, Z:-3.05 [[ 9.87275367e-01 1.31728817e-01 8.90778794e-02 2.61352271e+01] [-1.31737499e-01 9.91267625e-01 -5.80754621e-03 -1.01653287e+00] [-8.90650391e-02 -6.00124978e-03 9.96007733e-01 -3.04625646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.746296757000003 meters 0.08126433828789538 Centerline is valid? [True, True] Translation: X:26.17, Y:-1.01, Z:-3.05 [[ 9.86989079e-01 1.32612263e-01 9.09205446e-02 2.61674963e+01] [-1.32623049e-01 9.91148690e-01 -5.94991949e-03 -1.00818497e+00] [-9.09048109e-02 -6.18565425e-03 9.95840375e-01 -3.05352075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.776296757000004 meters 0.07805036221701708 Centerline is valid? [True, True] Translation: X:26.20, Y:-1.01, Z:-3.05 [[ 9.86767560e-01 1.34113285e-01 9.11230454e-02 2.61991636e+01] [-1.34128828e-01 9.90945852e-01 -5.98122366e-03 -1.01491868e+00] [-9.11001655e-02 -6.32014980e-03 9.95821679e-01 -3.05474206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.806296757000002 meters 0.08033069514128631 Centerline is valid? [True, True] Translation: X:26.23, Y:-1.01, Z:-3.06 [[ 9.86108084e-01 1.37922061e-01 9.25653965e-02 2.62291739e+01] [-1.37954087e-01 9.90419942e-01 -6.08348130e-03 -1.00595550e+00] [-9.25176609e-02 -6.77080465e-03 9.95688023e-01 -3.06141230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.836296757000003 meters 0.08086640848917635 Centerline is valid? [True, True] Translation: X:26.26, Y:-1.01, Z:-3.07 [[ 9.85900783e-01 1.39783680e-01 9.19791803e-02 2.62599298e+01] [-1.39823175e-01 9.90158027e-01 -6.04653358e-03 -1.00640558e+00] [-9.19191305e-02 -6.89953881e-03 9.95742572e-01 -3.06649506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.866296757000004 meters 0.08272710140946027 Centerline is valid? [True, True] Translation: X:26.29, Y:-1.01, Z:-3.07 [[ 9.85790696e-01 1.41551400e-01 9.04428239e-02 2.62899261e+01] [-1.41596836e-01 9.89906549e-01 -5.94645736e-03 -1.00779021e+00] [-9.03716730e-02 -6.94445532e-03 9.95883896e-01 -3.07021610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.896296757 meters 0.08296120192774144 Centerline is valid? [True, True] Translation: X:26.32, Y:-1.01, Z:-3.07 [[ 9.85734219e-01 1.41945627e-01 9.04405254e-02 2.63225627e+01] [-1.41992889e-01 9.89849829e-01 -5.94429665e-03 -1.01126283e+00] [-9.03663056e-02 -6.98241490e-03 9.95884118e-01 -3.07339628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.926296757000003 meters 0.08342742449951172 Centerline is valid? [True, True] Translation: X:26.35, Y:-1.01, Z:-3.08 [[ 9.85732277e-01 1.41997044e-01 9.03809585e-02 2.63542239e+01] [-1.42042206e-01 9.89842628e-01 -5.96519777e-03 -1.01323330e+00] [-9.03099659e-02 -6.95782275e-03 9.95889401e-01 -3.07771497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.956296757000004 meters 0.0837084276715312 Centerline is valid? [True, True] Translation: X:26.39, Y:-1.01, Z:-3.08 [[ 9.85837620e-01 1.41352438e-01 9.02423159e-02 2.63854308e+01] [-1.41392863e-01 9.89935519e-01 -5.97718674e-03 -1.01199065e+00] [-9.01789638e-02 -6.86708386e-03 9.95901902e-01 -3.08233261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.986296757 meters 0.08418405099138718 Centerline is valid? [True, True] Translation: X:26.42, Y:-1.01, Z:-3.09 [[ 9.85765522e-01 1.41749791e-01 9.04064806e-02 2.64180868e+01] [-1.41790393e-01 9.89878483e-01 -6.00606580e-03 -1.01160178e+00] [-9.03427884e-02 -6.89819785e-03 9.95886839e-01 -3.08734701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.016296757000003 meters 0.08534372538702988 Centerline is valid? [True, True] Translation: X:26.45, Y:-1.01, Z:-3.09 [[ 9.85796919e-01 1.41715870e-01 9.01168528e-02 2.64495960e+01] [-1.41753842e-01 9.89883686e-01 -6.01138093e-03 -1.01045114e+00] [-9.00571105e-02 -6.84840933e-03 9.95913057e-01 -3.09098131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.046296757000004 meters 0.08501946283964429 Centerline is valid? [True, True] Translation: X:26.48, Y:-1.01, Z:-3.09 [[ 9.85902943e-01 1.40963285e-01 9.01373394e-02 2.64820626e+01] [-1.40996149e-01 9.89991750e-01 -6.03490515e-03 -1.01293636e+00] [-9.00859225e-02 -6.75918704e-03 9.95911060e-01 -3.09330177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.076296757 meters 0.08509891841256124 Centerline is valid? [True, True] Translation: X:26.51, Y:-1.01, Z:-3.10 [[ 9.85915434e-01 1.40020500e-01 9.14604640e-02 2.65137277e+01] [-1.40049598e-01 9.90125503e-01 -6.13170294e-03 -1.01479254e+00] [-9.14159020e-02 -6.76366064e-03 9.95789830e-01 -3.09601530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.106296757000003 meters 0.0800515914731041 Centerline is valid? [True, True] Translation: X:26.54, Y:-1.03, Z:-3.09 [[ 9.86022096e-01 1.37924024e-01 9.34740069e-02 2.65442161e+01] [-1.37944668e-01 9.90420080e-01 -6.27160365e-03 -1.02714457e+00] [-9.34435382e-02 -6.71030106e-03 9.95601967e-01 -3.09465566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.136296757000004 meters 0.07878210238315639 Centerline is valid? [True, True] Translation: X:26.58, Y:-1.03, Z:-3.10 [[ 9.86469000e-01 1.34540058e-01 9.36903660e-02 2.65751161e+01] [-1.34545329e-01 9.90887479e-01 -6.28947633e-03 -1.02852046e+00] [-9.36827971e-02 -6.40122766e-03 9.95581517e-01 -3.09950546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.166296757 meters 0.07638737754607013 Centerline is valid? [True, True] Translation: X:26.61, Y:-1.04, Z:-3.10 [[ 9.86566328e-01 1.34039172e-01 9.33829813e-02 2.66072744e+01] [-1.34042126e-01 9.90955803e-01 -6.26932435e-03 -1.03560099e+00] [-9.33787423e-02 -6.33214899e-03 9.95610523e-01 -3.10213243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.196296757000002 meters 0.0790175891654028 Centerline is valid? [True, True] Translation: X:26.64, Y:-1.03, Z:-3.11 [[ 9.86537455e-01 1.33916097e-01 9.38633505e-02 2.66384609e+01] [-1.33918035e-01 9.90972342e-01 -6.30695076e-03 -1.03038776e+00] [-9.38605865e-02 -6.34795227e-03 9.95565113e-01 -3.10798760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.226296757000004 meters 0.07914442935145327 Centerline is valid? [True, True] Translation: X:26.67, Y:-1.03, Z:-3.11 [[ 9.86432932e-01 1.33577981e-01 9.54305650e-02 2.66709034e+01] [-1.33576043e-01 9.91017659e-01 -6.43745458e-03 -1.03288958e+00] [-9.54332773e-02 -6.39712008e-03 9.95415273e-01 -3.11103594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.256296757000005 meters 0.0767736244335871 Centerline is valid? [True, True] Translation: X:26.70, Y:-1.04, Z:-3.11 [[ 9.86398699e-01 1.31822336e-01 9.81859403e-02 2.67015133e+01] [-1.31810807e-01 9.91252702e-01 -6.63270627e-03 -1.03934268e+00] [-9.82014174e-02 -6.39947516e-03 9.95145983e-01 -3.11296065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.286296757000002 meters 0.07654964929936395 Centerline is valid? [True, True] Translation: X:26.73, Y:-1.04, Z:-3.12 [[ 9.86627347e-01 1.29980448e-01 9.83440994e-02 2.67322147e+01] [-1.29959478e-01 9.91497028e-01 -6.64659302e-03 -1.03776052e+00] [-9.83718094e-02 -6.22303739e-03 9.95130273e-01 -3.11657866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.316296757000003 meters 0.07636533769500661 Centerline is valid? [True, True] Translation: X:26.76, Y:-1.04, Z:-3.12 [[ 9.86728482e-01 1.29596135e-01 9.78352982e-02 2.67638619e+01] [-1.29573510e-01 9.91547773e-01 -6.61199194e-03 -1.03885210e+00] [-9.78652607e-02 -6.15262221e-03 9.95180655e-01 -3.11992879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.346296757000005 meters 0.07648240360880285 Centerline is valid? [True, True] Translation: X:26.80, Y:-1.04, Z:-3.12 [[ 9.86806717e-01 1.29184235e-01 9.75906607e-02 2.67959393e+01] [-1.29157439e-01 9.91602012e-01 -6.61865824e-03 -1.03969373e+00] [-9.76261217e-02 -6.07322336e-03 9.95204630e-01 -3.12389779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.376296757000002 meters 0.07660508961758498 Centerline is valid? [True, True] Translation: X:26.83, Y:-1.04, Z:-3.13 [[ 9.86900681e-01 1.29731819e-01 9.58994277e-02 2.68281176e+01] [-1.29706322e-01 9.91530977e-01 -6.52621380e-03 -1.04032868e+00] [-9.59339109e-02 -5.99803718e-03 9.95369634e-01 -3.12731363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.406296757000003 meters 0.07700247922374695 Centerline is valid? [True, True] Translation: X:26.86, Y:-1.04, Z:-3.13 [[ 9.87250724e-01 1.29586773e-01 9.24298455e-02 2.68588175e+01] [-1.29560395e-01 9.91551446e-01 -6.31136924e-03 -1.03880920e+00] [-9.24668170e-02 -5.74434344e-03 9.95699197e-01 -3.13174594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.436296757000004 meters 0.07748276534093985 Centerline is valid? [True, True] Translation: X:26.89, Y:-1.04, Z:-3.14 [[ 9.87490397e-01 1.29806761e-01 8.95149182e-02 2.68898537e+01] [-1.29780927e-01 9.91523720e-01 -6.13377001e-03 -1.03633588e+00] [-8.95523695e-02 -5.56029009e-03 9.95966594e-01 -3.13629654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.466296757000002 meters 0.07447831154715386 Centerline is valid? [True, True] Translation: X:26.92, Y:-1.05, Z:-3.14 [[ 9.87403743e-01 1.30144241e-01 8.99795760e-02 2.69220793e+01] [-1.30119015e-01 9.91479176e-01 -6.17142493e-03 -1.04516540e+00] [-9.00160513e-02 -5.61436572e-03 9.95924490e-01 -3.13687778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.496296757000003 meters 0.07760486987811274 Centerline is valid? [True, True] Translation: X:26.95, Y:-1.04, Z:-3.14 [[ 9.87417285e-01 1.30431747e-01 8.94128929e-02 2.69530732e+01] [-1.30405596e-01 9.91441599e-01 -6.15929821e-03 -1.03674731e+00] [-8.94510295e-02 -5.57814404e-03 9.95975601e-01 -3.14357392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.526296757000004 meters 0.07809245753831058 Centerline is valid? [True, True] Translation: X:26.98, Y:-1.03, Z:-3.15 [[ 9.87600059e-01 1.30119562e-01 8.78351993e-02 2.69837460e+01] [-1.30091072e-01 9.91483449e-01 -6.07321676e-03 -1.03492679e+00] [-8.78773906e-02 -5.42866597e-03 9.96116506e-01 -3.14801242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.556296757000002 meters 0.07468347479805687 Centerline is valid? [True, True] Translation: X:27.02, Y:-1.05, Z:-3.15 [[ 9.87629956e-01 1.30535380e-01 8.68768300e-02 2.70157119e+01] [-1.30508446e-01 9.91428955e-01 -6.01431928e-03 -1.04540303e+00] [-8.69172863e-02 -5.39823817e-03 9.96200906e-01 -3.14735303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.586296757000003 meters 0.07454519767749225 Centerline is valid? [True, True] Translation: X:27.05, Y:-1.05, Z:-3.15 [[ 9.87430714e-01 1.31260853e-01 8.80407485e-02 2.70490697e+01] [-1.31234218e-01 9.91332525e-01 -6.11596819e-03 -1.04530045e+00] [-8.80804447e-02 -5.51486399e-03 9.96098098e-01 -3.14941557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.616296757000004 meters 0.07474494986647565 Centerline is valid? [True, True] Translation: X:27.08, Y:-1.05, Z:-3.15 [[ 9.87420684e-01 1.31775761e-01 8.73815882e-02 2.70815360e+01] [-1.31749302e-01 9.91264328e-01 -6.09538989e-03 -1.04517308e+00] [-8.74214760e-02 -5.49374923e-03 9.96156265e-01 -3.15258891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.646296757 meters 0.07446015052536127 Centerline is valid? [True, True] Translation: X:27.11, Y:-1.05, Z:-3.16 [[ 9.87404392e-01 1.30857240e-01 8.89322792e-02 2.71125674e+01] [-1.30823704e-01 9.91386066e-01 -6.23108666e-03 -1.04564127e+00] [-8.89816052e-02 -5.48184780e-03 9.96018184e-01 -3.15628144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.676296757000003 meters 0.07407492292518761 Centerline is valid? [True, True] Translation: X:27.14, Y:-1.05, Z:-3.16 [[ 9.87531847e-01 1.29586525e-01 8.93766351e-02 2.71442723e+01] [-1.29547246e-01 9.91553459e-01 -6.26489530e-03 -1.04764825e+00] [-8.94335577e-02 -5.39171333e-03 9.95978197e-01 -3.15922677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.706296757000004 meters 0.07397044332778462 Centerline is valid? [True, True] Translation: X:27.18, Y:-1.05, Z:-3.16 [[ 9.87964252e-01 1.27708205e-01 8.72768685e-02 2.71755021e+01] [-1.27663495e-01 9.91798677e-01 -6.11684911e-03 -1.04956589e+00] [-8.73422545e-02 -5.09884186e-03 9.96165314e-01 -3.16396769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.736296757 meters 0.07388766080293048 Centerline is valid? [True, True] Translation: X:27.21, Y:-1.05, Z:-3.17 [[ 9.88363889e-01 1.25901239e-01 8.53563207e-02 2.72073583e+01] [-1.25850038e-01 9.92031120e-01 -6.00206619e-03 -1.05311839e+00] [-8.54317940e-02 -4.80987069e-03 9.96332411e-01 -3.16943778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.766296757000003 meters 0.0739164738111869 Centerline is valid? [True, True] Translation: X:27.24, Y:-1.06, Z:-3.17 [[ 9.88459453e-01 1.25387087e-01 8.50058151e-02 2.72395756e+01] [-1.25332321e-01 9.92096662e-01 -6.00186150e-03 -1.05574488e+00] [-8.50865414e-02 -4.72137939e-03 9.96362378e-01 -3.17367761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.796296757000004 meters 0.07396156716953936 Centerline is valid? [True, True] Translation: X:27.27, Y:-1.06, Z:-3.18 [[ 9.88360031e-01 1.25520800e-01 8.59591614e-02 2.72716372e+01] [-1.25465065e-01 9.92079456e-01 -6.07207961e-03 -1.05708059e+00] [-8.60404904e-02 -4.78347099e-03 9.96280158e-01 -3.17754337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.826296757 meters 0.07432668845349681 Centerline is valid? [True, True] Translation: X:27.30, Y:-1.06, Z:-3.18 [[ 9.88269901e-01 1.26024373e-01 8.62580988e-02 2.73021097e+01] [-1.25968153e-01 9.92015430e-01 -6.11640196e-03 -1.05610657e+00] [-8.63401808e-02 -4.82111740e-03 9.96254049e-01 -3.18236071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.856296757000003 meters 0.07428336500615858 Centerline is valid? [True, True] Translation: X:27.33, Y:-1.05, Z:-3.19 [[ 9.87906014e-01 1.26849565e-01 8.91677994e-02 2.73342185e+01] [-1.26792058e-01 9.91909109e-01 -6.33190597e-03 -1.05193737e+00] [-8.92495520e-02 -5.05044080e-03 9.95996491e-01 -3.18850506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.886296757000004 meters 0.07255862669160995 Centerline is valid? [True, True] Translation: X:27.37, Y:-1.06, Z:-3.19 [[ 9.87892672e-01 1.26622778e-01 8.96367201e-02 2.73656922e+01] [-1.26561903e-01 9.91938157e-01 -6.38563896e-03 -1.05754992e+00] [-8.97226504e-02 -5.03626799e-03 9.95954056e-01 -3.19044650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.916296757 meters 0.07275460093795467 Centerline is valid? [True, True] Translation: X:27.40, Y:-1.06, Z:-3.19 [[ 9.87912312e-01 1.25333593e-01 9.12181730e-02 2.73961227e+01] [-1.25262617e-01 9.92102159e-01 -6.52552493e-03 -1.06193614e+00] [-9.13156139e-02 -4.97958064e-03 9.95809551e-01 -3.19295924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.946296757000002 meters 0.07208251716431686 Centerline is valid? [True, True] Translation: X:27.43, Y:-1.07, Z:-3.19 [[ 9.87843940e-01 1.24329685e-01 9.33085232e-02 2.74273321e+01] [-1.24250696e-01 9.92228383e-01 -6.67832911e-03 -1.06659652e+00] [-9.34136797e-02 -4.99650200e-03 9.95614845e-01 -3.19403139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.976296757000004 meters 0.0714780135834496 Centerline is valid? [True, True] Translation: X:27.46, Y:-1.07, Z:-3.20 [[ 9.87791824e-01 1.23473216e-01 9.49825096e-02 2.74589748e+01] [-1.23387176e-01 9.92335301e-01 -6.80111486e-03 -1.06532424e+00] [-9.50942528e-02 -5.00153796e-03 9.95455709e-01 -3.19878477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.006296757000005 meters 0.07215727928498994 Centerline is valid? [True, True] Translation: X:27.49, Y:-1.06, Z:-3.20 [[ 9.87745847e-01 1.24289481e-01 9.43942092e-02 2.74896352e+01] [-1.24208080e-01 9.92233164e-01 -6.76026293e-03 -1.06301938e+00] [-9.45012945e-02 -5.04710189e-03 9.95511945e-01 -3.20472057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.036296757000002 meters 0.07067055694243937 Centerline is valid? [True, True] Translation: X:27.52, Y:-1.07, Z:-3.21 [[ 9.87718764e-01 1.24665270e-01 9.41818151e-02 2.75220394e+01] [-1.24584102e-01 9.92185993e-01 -6.76435636e-03 -1.06814129e+00] [-9.42891581e-02 -5.05227516e-03 9.95532033e-01 -3.20766235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.066296757000003 meters 0.0726255936029127 Centerline is valid? [True, True] Translation: X:27.55, Y:-1.07, Z:-3.21 [[ 9.87763888e-01 1.25509516e-01 9.25735576e-02 2.75529663e+01] [-1.25432280e-01 9.92079725e-01 -6.67544861e-03 -1.06599248e+00] [-9.26781819e-02 -5.01794529e-03 9.95683471e-01 -3.21445087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.096296757000005 meters 0.07236385511323404 Centerline is valid? [True, True] Translation: X:27.58, Y:-1.07, Z:-3.22 [[ 9.87828057e-01 1.25710714e-01 9.16108388e-02 2.75842770e+01] [-1.25634062e-01 9.92054523e-01 -6.62619092e-03 -1.07007014e+00] [-9.17159302e-02 -4.96390448e-03 9.95772839e-01 -3.21773652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.126296757000002 meters 0.06976359453320638 Centerline is valid? [True, True] Translation: X:27.62, Y:-1.08, Z:-3.22 [[ 9.87771843e-01 1.26792611e-01 9.07216637e-02 2.76156663e+01] [-1.26719691e-01 9.91916697e-01 -6.58680583e-03 -1.07968451e+00] [-9.08234913e-02 -4.98995982e-03 9.95854504e-01 -3.21836691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.156296757000003 meters 0.07012099113472703 Centerline is valid? [True, True] Translation: X:27.65, Y:-1.08, Z:-3.22 [[ 9.87526956e-01 1.28221152e-01 9.13774972e-02 2.76471275e+01] [-1.28153046e-01 9.91732196e-01 -6.63683417e-03 -1.07914821e+00] [-9.14729885e-02 -5.15625191e-03 9.95794208e-01 -3.22348979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.186296757000004 meters 0.07040768111247857 Centerline is valid? [True, True] Translation: X:27.68, Y:-1.08, Z:-3.23 [[ 9.87518197e-01 1.30050580e-01 8.88518895e-02 2.76779239e+01] [-1.29991070e-01 9.91493985e-01 -6.48067587e-03 -1.08017177e+00] [-8.89389296e-02 -5.15016685e-03 9.96023766e-01 -3.22993146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.216296757000002 meters 0.07080675994564602 Centerline is valid? [True, True] Translation: X:27.71, Y:-1.08, Z:-3.24 [[ 9.87450613e-01 1.30519869e-01 8.89148489e-02 2.77100976e+01] [-1.30462472e-01 9.91432060e-01 -6.48186422e-03 -1.08283655e+00] [-8.89990439e-02 -5.19953022e-03 9.96018140e-01 -3.23512086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.246296757000003 meters 0.07321813210392254 Centerline is valid? [True, True] Translation: X:27.74, Y:-1.08, Z:-3.24 [[ 9.87394073e-01 1.31110139e-01 8.86739919e-02 2.77406437e+01] [-1.31053027e-01 9.91354109e-01 -6.49111823e-03 -1.07941920e+00] [-8.87583777e-02 -5.21170338e-03 9.96039552e-01 -3.24152912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.276296757000004 meters 0.07061044150424044 Centerline is valid? [True, True] Translation: X:27.77, Y:-1.09, Z:-3.24 [[ 9.87063158e-01 1.31085688e-01 9.23193635e-02 2.77719534e+01] [-1.31021297e-01 9.91356339e-01 -6.78442059e-03 -1.09195276e+00] [-9.24107267e-02 -5.39915111e-03 9.95706336e-01 -3.23953547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.306296757000002 meters 0.07562815951082175 Centerline is valid? [True, True] Translation: X:27.80, Y:-1.08, Z:-3.25 [[ 9.87032257e-01 1.30470726e-01 9.35131731e-02 2.78031384e+01] [-1.30401821e-01 9.91437402e-01 -6.87341246e-03 -1.08102718e+00] [-9.36092365e-02 -5.41000822e-03 9.95594316e-01 -3.24831113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.336296757000003 meters 0.07041505204816219 Centerline is valid? [True, True] Translation: X:27.83, Y:-1.10, Z:-3.25 [[ 9.86859574e-01 1.31315395e-01 9.41511943e-02 2.78345537e+01] [-1.31247340e-01 9.91325348e-01 -6.94187551e-03 -1.09875707e+00] [-9.42460406e-02 -5.50643746e-03 9.95533708e-01 -3.24611065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.366296757000004 meters 0.07041505204816219 Centerline is valid? [True, True] Translation: X:27.87, Y:-1.10, Z:-3.25 [[ 9.86822147e-01 1.31597568e-01 9.41495148e-02 2.78667259e+01] [-1.31528632e-01 9.91287907e-01 -6.96457170e-03 -1.10120934e+00] [-9.42457961e-02 -5.51056325e-03 9.95533708e-01 -3.24987751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.396296757 meters 0.07647622186526375 Centerline is valid? [True, True] Translation: X:27.90, Y:-1.09, Z:-3.26 [[ 9.86876039e-01 1.31388246e-01 9.38765753e-02 2.78977886e+01] [-1.31316117e-01 9.91316026e-01 -6.97239851e-03 -1.08795131e+00] [-9.39774448e-02 -5.44661431e-03 9.95559428e-01 -3.26011322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.426296757000003 meters 0.07030520819965498 Centerline is valid? [True, True] Translation: X:27.93, Y:-1.11, Z:-3.26 [[ 9.86866404e-01 1.31525762e-01 9.37852535e-02 2.79295538e+01] [-1.31452461e-01 9.91297859e-01 -6.98605420e-03 -1.10799570e+00] [-9.38879672e-02 -5.43400015e-03 9.95567939e-01 -3.25804587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.456296757000004 meters 0.07009461450668886 Centerline is valid? [True, True] Translation: X:27.96, Y:-1.11, Z:-3.26 [[ 9.86573074e-01 1.32152845e-01 9.59645492e-02 2.79613527e+01] [-1.32076306e-01 9.91213567e-01 -7.17730183e-03 -1.11193639e+00] [-9.60698640e-02 -5.59371039e-03 9.95358876e-01 -3.25837246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.486296757 meters 0.06933248179000204 Centerline is valid? [True, True] Translation: X:27.99, Y:-1.12, Z:-3.26 [[ 9.86191575e-01 1.33674215e-01 9.77618580e-02 2.79934319e+01] [-1.33599818e-01 9.91008206e-01 -7.33649435e-03 -1.11663502e+00] [-9.78635036e-02 -5.82577748e-03 9.95182795e-01 -3.26079831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.516296757000003 meters 0.07094128879693137 Centerline is valid? [True, True] Translation: X:28.02, Y:-1.11, Z:-3.27 [[ 9.85995881e-01 1.34928150e-01 9.80128392e-02 2.80244009e+01] [-1.34857022e-01 9.90837579e-01 -7.38080070e-03 -1.11304773e+00] [-9.81106820e-02 -5.94028048e-03 9.95157780e-01 -3.26611521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.546296757000004 meters 0.07062107906004074 Centerline is valid? [True, True] Translation: X:28.06, Y:-1.11, Z:-3.27 [[ 9.86111412e-01 1.36107804e-01 9.51785059e-02 2.80552888e+01] [-1.36043667e-01 9.90676729e-01 -7.19302547e-03 -1.11298122e+00] [-9.52701578e-02 -5.85530846e-03 9.95434233e-01 -3.27162793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.576296757 meters 0.0699432030093679 Centerline is valid? [True, True] Translation: X:28.09, Y:-1.12, Z:-3.28 [[ 9.86139535e-01 1.37027789e-01 9.35532059e-02 2.80873027e+01] [-1.36970027e-01 9.90549970e-01 -7.06885607e-03 -1.11723537e+00] [-9.36377550e-02 -5.84310667e-03 9.95589187e-01 -3.27514953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.606296757000003 meters 0.07044385888488207 Centerline is valid? [True, True] Translation: X:28.12, Y:-1.12, Z:-3.28 [[ 9.86363152e-01 1.37113656e-01 9.10361337e-02 2.81188687e+01] [-1.37057296e-01 9.90539088e-01 -6.90021368e-03 -1.12298235e+00] [-9.11209624e-02 -5.67104982e-03 9.95823684e-01 -3.27878637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.636296757000004 meters 0.0705921800192514 Centerline is valid? [True, True] Translation: X:28.15, Y:-1.13, Z:-3.28 [[ 9.86408101e-01 1.37091215e-01 9.05817671e-02 2.81509570e+01] [-1.37033325e-01 9.90542492e-01 -6.88761256e-03 -1.12770972e+00] [-9.06693205e-02 -5.61872392e-03 9.95865204e-01 -3.28208128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.666296757 meters 0.07060678797759752 Centerline is valid? [True, True] Translation: X:28.18, Y:-1.13, Z:-3.29 [[ 9.86620470e-01 1.36955958e-01 8.84483720e-02 2.81826427e+01] [-1.36897892e-01 9.90562158e-01 -6.75113512e-03 -1.13047208e+00] [-8.85382184e-02 -5.44758753e-03 9.96057884e-01 -3.28703469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.696296757000002 meters 0.0708605131375359 Centerline is valid? [True, True] Translation: X:28.21, Y:-1.13, Z:-3.29 [[ 9.86706767e-01 1.37090437e-01 8.72695155e-02 2.82141463e+01] [-1.37032524e-01 9.90544007e-01 -6.68265416e-03 -1.13185228e+00] [-8.73604235e-02 -5.36494188e-03 9.96162323e-01 -3.29161975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.726296757000004 meters 0.07151324929799853 Centerline is valid? [True, True] Translation: X:28.25, Y:-1.13, Z:-3.30 [[ 9.86670265e-01 1.37681472e-01 8.67502137e-02 2.82450341e+01] [-1.37624588e-01 9.90462040e-01 -6.66492039e-03 -1.13367512e+00] [-8.68404296e-02 -5.36288362e-03 9.96207799e-01 -3.29837545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.756296757000005 meters 0.07036246318661245 Centerline is valid? [True, True] Translation: X:28.28, Y:-1.15, Z:-3.30 [[ 9.86366322e-01 1.38915750e-01 8.82263693e-02 2.82764659e+01] [-1.38860073e-01 9.90288676e-01 -6.79836516e-03 -1.14520777e+00] [-8.83139744e-02 -5.54544163e-03 9.96077251e-01 -3.29920531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.786296757000002 meters 0.07258502122565255 Centerline is valid? [True, True] Translation: X:28.31, Y:-1.14, Z:-3.31 [[ 9.86124500e-01 1.39409356e-01 9.01304769e-02 2.83074251e+01] [-1.39350939e-01 9.90218518e-01 -6.97156598e-03 -1.14351781e+00] [-9.02207688e-02 -5.68493459e-03 9.95905565e-01 -3.30538853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.816296757000003 meters 0.07228455343837889 Centerline is valid? [True, True] Translation: X:28.34, Y:-1.15, Z:-3.31 [[ 9.86003153e-01 1.39734736e-01 9.09504602e-02 2.83386019e+01] [-1.39675634e-01 9.90172243e-01 -7.04604662e-03 -1.14798618e+00] [-9.10411986e-02 -5.75613902e-03 9.95830491e-01 -3.30903239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.846296757000005 meters 0.0735294346756939 Centerline is valid? [True, True] Translation: X:28.37, Y:-1.15, Z:-3.32 [[ 9.85706335e-01 1.41421460e-01 9.15586847e-02 2.83691335e+01] [-1.41366465e-01 9.89931739e-01 -7.11862233e-03 -1.14871047e+00] [-9.16435740e-02 -5.92645645e-03 9.95774238e-01 -3.31553743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.876296757000002 meters 0.07389765750222822 Centerline is valid? [True, True] Translation: X:28.40, Y:-1.15, Z:-3.32 [[ 9.85498909e-01 1.42574574e-01 9.20021266e-02 2.84007856e+01] [-1.42523307e-01 9.89765541e-01 -7.16110369e-03 -1.15243380e+00] [-9.20815259e-02 -6.05518747e-03 9.95733060e-01 -3.32086985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.906296757000003 meters 0.07117757965406384 Centerline is valid? [True, True] Translation: X:28.43, Y:-1.17, Z:-3.32 [[ 9.85762870e-01 1.40540024e-01 9.23041993e-02 2.84317267e+01] [-1.40477119e-01 9.90057666e-01 -7.21094433e-03 -1.16842539e+00] [-9.23999064e-02 -5.85834677e-03 9.95704744e-01 -3.32185778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.936296757000004 meters 0.07124518608929013 Centerline is valid? [True, True] Translation: X:28.46, Y:-1.17, Z:-3.33 [[ 9.85921481e-01 1.39157957e-01 9.27032659e-02 2.84620747e+01] [-1.39087934e-01 9.90253513e-01 -7.24757266e-03 -1.17291569e+00] [-9.28082921e-02 -5.74836817e-03 9.95667403e-01 -3.32569532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.966296757000002 meters 0.0710402378034835 Centerline is valid? [True, True] Translation: X:28.49, Y:-1.18, Z:-3.33 [[ 9.86098086e-01 1.37577073e-01 9.31832228e-02 2.84925939e+01] [-1.37499001e-01 9.90475090e-01 -7.28845544e-03 -1.17727164e+00] [-9.32983853e-02 -5.62546807e-03 9.95622301e-01 -3.32993594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.996296757000003 meters 0.0712521069181436 Centerline is valid? [True, True] Translation: X:28.52, Y:-1.18, Z:-3.33 [[ 9.86457125e-01 1.34814432e-01 9.34206013e-02 2.85218910e+01] [-1.34723294e-01 9.90856290e-01 -7.31074621e-03 -1.18485928e+00] [-9.35519845e-02 -5.37419349e-03 9.95599892e-01 -3.33448709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.026296757000004 meters 0.07127806973042573 Centerline is valid? [True, True] Translation: X:28.55, Y:-1.19, Z:-3.34 [[ 9.86560649e-01 1.33523112e-01 9.41788933e-02 2.85525910e+01] [-1.33424517e-01 9.91031563e-01 -7.37151312e-03 -1.19071802e+00] [-9.43185233e-02 -5.29332857e-03 9.95527999e-01 -3.33760654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.056296757000002 meters 0.0717714053744423 Centerline is valid? [True, True] Translation: X:28.58, Y:-1.20, Z:-3.34 [[ 9.86796480e-01 1.32564913e-01 9.30550989e-02 2.85828304e+01] [-1.32464490e-01 9.91160998e-01 -7.28255446e-03 -1.19649397e+00] [-9.31979959e-02 -5.14009716e-03 9.95634327e-01 -3.34423122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.086296757000003 meters 0.07180193064564766 Centerline is valid? [True, True] Translation: X:28.61, Y:-1.20, Z:-3.35 [[ 9.86757043e-01 1.32311945e-01 9.38300975e-02 2.86146373e+01] [-1.32206743e-01 9.91194808e-01 -7.36413261e-03 -1.19890915e+00] [-9.39782681e-02 -5.13836191e-03 9.95560989e-01 -3.34960842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.116296757000004 meters 0.07202105380930192 Centerline is valid? [True, True] Translation: X:28.65, Y:-1.20, Z:-3.35 [[ 9.86548375e-01 1.32560539e-01 9.56556664e-02 2.86460154e+01] [-1.32450152e-01 9.91161059e-01 -7.53077810e-03 -1.20214348e+00] [-9.58084556e-02 -5.24013069e-03 9.95385996e-01 -3.35415387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.146296757 meters 0.07195308716018595 Centerline is valid? [True, True] Translation: X:28.68, Y:-1.21, Z:-3.36 [[ 9.86326421e-01 1.32015908e-01 9.86508517e-02 2.86771267e+01] [-1.31893122e-01 9.91233301e-01 -7.79408063e-03 -1.20831892e+00] [-9.88149519e-02 -5.32386116e-03 9.95091585e-01 -3.35846946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.176296757000003 meters 0.07251846785919276 Centerline is valid? [True, True] Translation: X:28.71, Y:-1.21, Z:-3.36 [[ 9.86142065e-01 1.32416750e-01 9.99481450e-02 2.87081542e+01] [-1.32292526e-01 9.91179242e-01 -7.89919494e-03 -1.21067035e+00] [-1.00112512e-01 -5.43266411e-03 9.94961291e-01 -3.36275396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.206296757000004 meters 0.07316835430729737 Centerline is valid? [True, True] Translation: X:28.74, Y:-1.21, Z:-3.37 [[ 9.85949528e-01 1.32834656e-01 1.01284168e-01 2.87392668e+01] [-1.32707021e-01 9.91122803e-01 -8.02723474e-03 -1.21444277e+00] [-1.01451343e-01 -5.52667184e-03 9.94825151e-01 -3.36687027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.236296757 meters 0.0731823513228669 Centerline is valid? [True, True] Translation: X:28.77, Y:-1.22, Z:-3.37 [[ 9.85851714e-01 1.33351933e-01 1.01556192e-01 2.87711070e+01] [-1.33223924e-01 9.91053087e-01 -8.07249130e-03 -1.21920395e+00] [-1.01724060e-01 -5.57143505e-03 9.94797052e-01 -3.36906801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.266296757000003 meters 0.07337625497964595 Centerline is valid? [True, True] Translation: X:28.80, Y:-1.22, Z:-3.37 [[ 9.85747344e-01 1.33793996e-01 1.01986962e-01 2.88034148e+01] [-1.33664859e-01 9.90993242e-01 -8.13012635e-03 -1.22281455e+00] [-1.02156153e-01 -5.61782248e-03 9.94752512e-01 -3.37100744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.296296757000004 meters 0.07394110314782837 Centerline is valid? [True, True] Translation: X:28.83, Y:-1.23, Z:-3.38 [[ 9.85796102e-01 1.34407926e-01 1.00700317e-01 2.88338441e+01] [-1.34282305e-01 9.90910372e-01 -8.05593085e-03 -1.22525375e+00] [-1.00867769e-01 -5.58076543e-03 9.94884188e-01 -3.37571624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.326296757 meters 0.07311496807827306 Centerline is valid? [True, True] Translation: X:28.87, Y:-1.23, Z:-3.38 [[ 9.85666867e-01 1.35802669e-01 1.00092268e-01 2.88656016e+01] [-1.35684402e-01 9.90719648e-01 -8.02012966e-03 -1.22988335e+00] [-1.00252531e-01 -5.67578344e-03 9.94945835e-01 -3.38025250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.356296757000003 meters 0.0720009357463142 Centerline is valid? [True, True] Translation: X:28.90, Y:-1.24, Z:-3.38 [[ 9.85524517e-01 1.37123481e-01 9.96924106e-02 2.88967367e+01] [-1.37012444e-01 9.90537083e-01 -7.99228429e-03 -1.23600990e+00] [-9.98449594e-02 -5.78250873e-03 9.94986204e-01 -3.38313925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.386296757000004 meters 0.07189577181282908 Centerline is valid? [True, True] Translation: X:28.93, Y:-1.24, Z:-3.39 [[ 9.85347661e-01 1.38231110e-01 9.99106933e-02 2.89283620e+01] [-1.38122995e-01 9.90382513e-01 -8.03221470e-03 -1.23944044e+00] [-1.00060105e-01 -5.88544018e-03 9.94963988e-01 -3.38644700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.416296757000005 meters 0.07222547807091446 Centerline is valid? [True, True] Translation: X:28.96, Y:-1.24, Z:-3.39 [[ 9.85296894e-01 1.39370286e-01 9.88228459e-02 2.89602204e+01] [-1.39267783e-01 9.90222693e-01 -7.96886459e-03 -1.24156849e+00] [-9.89672476e-02 -5.91114115e-03 9.95073134e-01 -3.39034438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.446296757000002 meters 0.07808498180945533 Centerline is valid? [True, True] Translation: X:28.99, Y:-1.23, Z:-3.40 [[ 9.85271363e-01 1.41200392e-01 9.64509715e-02 2.89905999e+01] [-1.41108783e-01 9.89963332e-01 -7.80466894e-03 -1.22832936e+00] [-9.65849474e-02 -5.92036237e-03 9.95307137e-01 -3.40031158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.476296757000004 meters 0.07371972089801565 Centerline is valid? [True, True] Translation: X:29.02, Y:-1.24, Z:-3.40 [[ 9.85145506e-01 1.42292394e-01 9.61311993e-02 2.90213557e+01] [-1.42206775e-01 9.89806425e-01 -7.77646042e-03 -1.24112423e+00] [-9.62578100e-02 -6.00956282e-03 9.95338294e-01 -3.40187161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.506296757000005 meters 0.07516922627796613 Centerline is valid? [True, True] Translation: X:29.05, Y:-1.24, Z:-3.41 [[ 9.85223329e-01 1.44088358e-01 9.25933953e-02 2.90505904e+01] [-1.44014404e-01 9.89547054e-01 -7.51522328e-03 -1.24091718e+00] [-9.27083778e-02 -5.93060929e-03 9.95675642e-01 -3.40843010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.536296757000002 meters 0.07592842234383698 Centerline is valid? [True, True] Translation: X:29.08, Y:-1.24, Z:-3.41 [[ 9.85307075e-01 1.44549004e-01 9.09700738e-02 2.90810761e+01] [-1.44479858e-01 9.89480221e-01 -7.37994629e-03 -1.24346003e+00] [-9.10798526e-02 -5.87183005e-03 9.95826281e-01 -3.41241526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.566296757000003 meters 0.07465820558364633 Centerline is valid? [True, True] Translation: X:29.11, Y:-1.25, Z:-3.41 [[ 9.85550763e-01 1.42499165e-01 9.15624410e-02 2.91115104e+01] [-1.42417989e-01 9.89778542e-01 -7.45347549e-03 -1.25241688e+00] [-9.16886534e-02 -5.69436022e-03 9.95771442e-01 -3.41400621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.596296757000005 meters 0.07442170319750054 Centerline is valid? [True, True] Translation: X:29.14, Y:-1.26, Z:-3.42 [[ 9.85723614e-01 1.41228043e-01 9.16711368e-02 2.91420593e+01] [-1.41140913e-01 9.89961367e-01 -7.46555210e-03 -1.25728098e+00] [-9.18052292e-02 -5.57957697e-03 9.95761351e-01 -3.41689883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.626296757000002 meters 0.07164168734651652 Centerline is valid? [True, True] Translation: X:29.17, Y:-1.27, Z:-3.42 [[ 9.85963759e-01 1.40276601e-01 9.05424780e-02 2.91735164e+01] [-1.40187805e-01 9.90097492e-01 -7.37129890e-03 -1.26937928e+00] [-9.06799012e-02 -5.42511766e-03 9.95865314e-01 -3.41775949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.656296757000003 meters 0.07420028606002618 Centerline is valid? [True, True] Translation: X:29.20, Y:-1.27, Z:-3.43 [[ 9.86178047e-01 1.39147037e-01 8.99497766e-02 2.92043126e+01] [-1.39052648e-01 9.90257744e-01 -7.34589870e-03 -1.26528334e+00] [-9.00956229e-02 -5.26339057e-03 9.95919211e-01 -3.42545838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.686296757000004 meters 0.07016270495904407 Centerline is valid? [True, True] Translation: X:29.23, Y:-1.28, Z:-3.42 [[ 9.86622725e-01 1.35640002e-01 9.04289109e-02 2.92338769e+01] [-1.35527540e-01 9.90745858e-01 -7.41155876e-03 -1.28317709e+00] [-9.05973727e-02 -4.94319551e-03 9.95875334e-01 -3.42462791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.716296757000002 meters 0.07319761860971429 Centerline is valid? [True, True] Translation: X:29.26, Y:-1.28, Z:-3.43 [[ 9.86923887e-01 1.33326152e-01 9.05835405e-02 2.92640644e+01] [-1.33203560e-01 9.91060889e-01 -7.42474445e-03 -1.27903346e+00] [-9.07637167e-02 -4.73839240e-03 9.95861183e-01 -3.43293728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.746296757000003 meters 0.0690751064043366 Centerline is valid? [True, True] Translation: X:29.29, Y:-1.30, Z:-3.43 [[ 9.87582112e-01 1.28170337e-01 9.08511804e-02 2.92941015e+01] [-1.28025153e-01 9.91742953e-01 -7.44819137e-03 -1.29881901e+00] [-9.10556551e-02 -4.27553575e-03 9.95836627e-01 -3.43084980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.776296757000004 meters 0.0690839141312631 Centerline is valid? [True, True] Translation: X:29.32, Y:-1.30, Z:-3.44 [[ 9.87903052e-01 1.25768229e-01 9.07188666e-02 2.93240895e+01] [-1.25613163e-01 9.92051402e-01 -7.43970369e-03 -1.30330040e+00] [-9.09334571e-02 -4.04577776e-03 9.95848753e-01 -3.43516037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.806296757000002 meters 0.06912457169041547 Centerline is valid? [True, True] Translation: X:29.35, Y:-1.31, Z:-3.44 [[ 9.88122208e-01 1.23446973e-01 9.15169257e-02 2.93545667e+01] [-1.23279140e-01 9.92343644e-01 -7.50640627e-03 -1.30821016e+00] [-9.17428826e-02 -3.86488115e-03 9.95775229e-01 -3.43899855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.836296757000003 meters 0.06910464726530709 Centerline is valid? [True, True] Translation: X:29.39, Y:-1.31, Z:-3.44 [[ 9.88475517e-01 1.21354658e-01 9.04941915e-02 2.93865035e+01] [-1.21181637e-01 9.92602584e-01 -7.42441106e-03 -1.31408900e+00] [-9.07257552e-02 -3.62738567e-03 9.95869308e-01 -3.44292473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.866296757000004 meters 0.06936991142117455 Centerline is valid? [True, True] Translation: X:29.42, Y:-1.32, Z:-3.45 [[ 9.88461770e-01 1.22293088e-01 8.93741022e-02 2.94181727e+01] [-1.22127810e-01 9.92487269e-01 -7.33614722e-03 -1.31702992e+00] [-8.95998187e-02 -3.66356230e-03 9.95971109e-01 -3.44641395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.896296757 meters 0.07008601647065778 Centerline is valid? [True, True] Translation: X:29.45, Y:-1.32, Z:-3.45 [[ 9.88099793e-01 1.24198143e-01 9.07392998e-02 2.94489040e+01] [-1.24033689e-01 9.92249880e-01 -7.47118260e-03 -1.31841270e+00] [-9.09639664e-02 -3.87245615e-03 9.95846655e-01 -3.44953330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.926296757000003 meters 0.07012011067893643 Centerline is valid? [True, True] Translation: X:29.48, Y:-1.32, Z:-3.45 [[ 9.87837876e-01 1.25426067e-01 9.18946829e-02 2.94810372e+01] [-1.25260785e-01 9.92094841e-01 -7.58701547e-03 -1.32123354e+00] [-9.21198503e-02 -4.01605888e-03 9.95739828e-01 -3.45212083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.956296757000004 meters 0.07057518848375996 Centerline is valid? [True, True] Translation: X:29.51, Y:-1.32, Z:-3.46 [[ 9.87589440e-01 1.26508731e-01 9.30732942e-02 2.95131086e+01] [-1.26341892e-01 9.91956821e-01 -7.70662013e-03 -1.32240578e+00] [-9.32996438e-02 -4.14807939e-03 9.95629434e-01 -3.45530607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.986296757 meters 0.07188484707189416 Centerline is valid? [True, True] Translation: X:29.54, Y:-1.32, Z:-3.46 [[ 9.87050026e-01 1.30907971e-01 9.27111078e-02 2.95436277e+01] [-1.30759035e-01 9.91384234e-01 -7.70554098e-03 -1.32215918e+00] [-9.29210473e-02 -4.51706057e-03 9.95663234e-01 -3.45964010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.016296757000003 meters 0.07291902526729684 Centerline is valid? [True, True] Translation: X:29.57, Y:-1.32, Z:-3.46 [[ 9.86817495e-01 1.33252625e-01 9.18420945e-02 2.95733497e+01] [-1.33116559e-01 9.91070993e-01 -7.63334731e-03 -1.32164707e+00] [-9.20391994e-02 -4.69298289e-03 9.95744325e-01 -3.46458776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.046296757000004 meters 0.0748171435923312 Centerline is valid? [True, True] Translation: X:29.60, Y:-1.32, Z:-3.47 [[ 9.86198084e-01 1.39079629e-01 8.98342684e-02 2.96040226e+01] [-1.38972663e-01 9.90268004e-01 -7.47522901e-03 -1.31741806e+00] [-8.99996538e-02 -5.11245102e-03 9.95928675e-01 -3.47185413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.076296757 meters 0.07557113403926871 Centerline is valid? [True, True] Translation: X:29.64, Y:-1.32, Z:-3.48 [[ 9.85876457e-01 1.42585042e-01 8.78471203e-02 2.96351856e+01] [-1.42496479e-01 9.89768309e-01 -7.31078575e-03 -1.31775060e+00] [-8.79907044e-02 -5.31037381e-03 9.96107141e-01 -3.47663740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.106296757000003 meters 0.0743044804552126 Centerline is valid? [True, True] Translation: X:29.67, Y:-1.32, Z:-3.48 [[ 9.85514004e-01 1.45068886e-01 8.78474075e-02 2.96661208e+01] [-1.44989983e-01 9.89406101e-01 -7.31247219e-03 -1.32390832e+00] [-8.79775732e-02 -5.53045040e-03 9.96107103e-01 -3.47924933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.136296757000004 meters 0.07588211221846715 Centerline is valid? [True, True] Translation: X:29.70, Y:-1.32, Z:-3.48 [[ 9.85120030e-01 1.48728252e-01 8.61303274e-02 2.96954131e+01] [-1.48666118e-01 9.88861445e-01 -7.17126740e-03 -1.32449491e+00] [-8.62375301e-02 -5.74010228e-03 9.96258069e-01 -3.48370508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.166296757000005 meters 0.07683149206760714 Centerline is valid? [True, True] Translation: X:29.73, Y:-1.33, Z:-3.49 [[ 9.85039573e-01 1.49336509e-01 8.59979508e-02 2.97271668e+01] [-1.49276309e-01 9.88769550e-01 -7.16668783e-03 -1.32608951e+00] [-8.61024032e-02 -5.77798558e-03 9.96269537e-01 -3.48844591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.196296757000002 meters 0.07713496357077267 Centerline is valid? [True, True] Translation: X:29.76, Y:-1.33, Z:-3.49 [[ 9.85331334e-01 1.47719568e-01 8.54464293e-02 2.97573787e+01] [-1.47653310e-01 9.89013482e-01 -7.12973954e-03 -1.33026291e+00] [-8.55608725e-02 -5.59129236e-03 9.96317256e-01 -3.49263896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.226296757000004 meters 0.07666642690131742 Centerline is valid? [True, True] Translation: X:29.79, Y:-1.34, Z:-3.50 [[ 9.85533151e-01 1.46142024e-01 8.58307489e-02 2.97878044e+01] [-1.46068964e-01 9.89248463e-01 -7.16486280e-03 -1.33526703e+00] [-8.59550240e-02 -5.47599880e-03 9.96283969e-01 -3.49685947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.256296757000005 meters 0.07666642690131742 Centerline is valid? [True, True] Translation: X:29.82, Y:-1.34, Z:-3.50 [[ 9.85493266e-01 1.46410542e-01 8.58310879e-02 2.98199505e+01] [-1.46338846e-01 9.89208605e-01 -7.16081793e-03 -1.33805534e+00] [-8.59532699e-02 -5.50348452e-03 9.96283969e-01 -3.50061832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.286296757000002 meters 0.07595351957514981 Centerline is valid? [True, True] Translation: X:29.85, Y:-1.34, Z:-3.50 [[ 9.85663536e-01 1.45290946e-01 8.57784060e-02 2.98520234e+01] [-1.45212596e-01 9.89374382e-01 -7.18571324e-03 -1.34350368e+00] [-8.59109765e-02 -5.37340948e-03 9.96288327e-01 -3.50366645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.316296757000003 meters 0.07617183670915406 Centerline is valid? [True, True] Translation: X:29.88, Y:-1.35, Z:-3.51 [[ 9.85818466e-01 1.43373595e-01 8.72121787e-02 2.98821094e+01] [-1.43284327e-01 9.89654529e-01 -7.31540146e-03 -1.34765877e+00] [-8.73587631e-02 -5.28448049e-03 9.96162899e-01 -3.50863490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.346296757000005 meters 0.07587071027316145 Centerline is valid? [True, True] Translation: X:29.91, Y:-1.35, Z:-3.51 [[ 9.85973387e-01 1.41894192e-01 8.78778590e-02 2.99136498e+01] [-1.41797630e-01 9.89868214e-01 -7.37227761e-03 -1.35233367e+00] [-8.80335827e-02 -5.19200265e-03 9.96103976e-01 -3.51161418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.376296757000002 meters 0.07570740005388901 Centerline is valid? [True, True] Translation: X:29.94, Y:-1.36, Z:-3.51 [[ 9.86198073e-01 1.39162772e-01 8.97055437e-02 2.99429759e+01] [-1.39050414e-01 9.90256664e-01 -7.53145043e-03 -1.35939048e+00] [-8.98796099e-02 -5.04609104e-03 9.95939854e-01 -3.51401641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.406296757000003 meters 0.07517719387096507 Centerline is valid? [True, True] Translation: X:29.97, Y:-1.37, Z:-3.52 [[ 9.86312864e-01 1.36760878e-01 9.21053552e-02 2.99739725e+01] [-1.36632019e-01 9.90591686e-01 -7.73321703e-03 -1.36557407e+00] [-9.22964006e-02 -4.95716919e-03 9.95719238e-01 -3.51632298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.436296757000004 meters 0.0747077309687438 Centerline is valid? [True, True] Translation: X:30.00, Y:-1.37, Z:-3.52 [[ 9.86669078e-01 1.32952348e-01 9.38499033e-02 3.00037460e+01] [-1.32801179e-01 9.91111353e-01 -7.88242376e-03 -1.37085317e+00] [-9.40636914e-02 -4.68603403e-03 9.95555153e-01 -3.51873449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.466296757000002 meters 0.07493947052314569 Centerline is valid? [True, True] Translation: X:30.04, Y:-1.37, Z:-3.52 [[ 9.86865499e-01 1.32501824e-01 9.24107842e-02 3.00358917e+01] [-1.32353725e-01 9.91172198e-01 -7.75666446e-03 -1.37264604e+00] [-9.26227723e-02 -4.57612698e-03 9.95690756e-01 -3.52248408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.496296757000003 meters 0.07511481295753927 Centerline is valid? [True, True] Translation: X:30.07, Y:-1.37, Z:-3.53 [[ 9.87000419e-01 1.32528503e-01 9.09195741e-02 3.00674060e+01] [-1.32383191e-01 9.91169062e-01 -7.65387356e-03 -1.37452015e+00] [-9.11310253e-02 -4.48184689e-03 9.95828825e-01 -3.52759466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.526296757000004 meters 0.07332583047290389 Centerline is valid? [True, True] Translation: X:30.10, Y:-1.39, Z:-3.53 [[ 9.87338945e-01 1.32311139e-01 8.74961213e-02 3.00990055e+01] [-1.32173604e-01 9.91199041e-01 -7.38921217e-03 -1.38590559e+00] [-8.77037465e-02 -4.26902070e-03 9.96137455e-01 -3.52900012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.556296757000002 meters 0.07463073518986946 Centerline is valid? [True, True] Translation: X:30.13, Y:-1.39, Z:-3.53 [[ 9.87298089e-01 1.32914527e-01 8.70414402e-02 3.01301019e+01] [-1.32780596e-01 9.91118183e-01 -7.35254712e-03 -1.38503186e+00] [-8.72456144e-02 -4.29825859e-03 9.96177558e-01 -3.53403491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.586296757000003 meters 0.07336857922213472 Centerline is valid? [True, True] Translation: X:30.16, Y:-1.39, Z:-3.54 [[ 9.86987600e-01 1.33750872e-01 8.92534675e-02 3.01617982e+01] [-1.33611647e-01 9.91004933e-01 -7.55976060e-03 -1.38838832e+00] [-8.94617512e-02 -4.46391283e-03 9.95980255e-01 -3.53530632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.616296757000004 meters 0.07653981051366524 Centerline is valid? [True, True] Translation: X:30.19, Y:-1.38, Z:-3.55 [[ 9.86895867e-01 1.34075928e-01 8.97785842e-02 3.01932239e+01] [-1.33934335e-01 9.90960857e-01 -7.62714659e-03 -1.37883859e+00] [-8.99896795e-02 -4.49723558e-03 9.95932544e-01 -3.54514802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.646296757 meters 0.077352481872304 Centerline is valid? [True, True] Translation: X:30.23, Y:-1.38, Z:-3.55 [[ 9.86761361e-01 1.35007367e-01 8.98611554e-02 3.02250659e+01] [-1.34867482e-01 9.90834075e-01 -7.65491569e-03 -1.38137450e+00] [-9.00709648e-02 -4.56577277e-03 9.95924884e-01 -3.54968591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.676296757000003 meters 0.07380626107486975 Centerline is valid? [True, True] Translation: X:30.26, Y:-1.40, Z:-3.55 [[ 9.86597422e-01 1.35843025e-01 9.04002149e-02 3.02564287e+01] [-1.35703175e-01 9.90719458e-01 -7.72039260e-03 -1.39660117e+00] [-9.06100133e-02 -4.65067674e-03 9.95875593e-01 -3.54681457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.706296757000004 meters 0.07405783700857832 Centerline is valid? [True, True] Translation: X:30.29, Y:-1.40, Z:-3.55 [[ 9.86465214e-01 1.35916899e-01 9.17222888e-02 3.02871721e+01] [-1.35771077e-01 9.90709081e-01 -7.85698807e-03 -1.39929541e+00] [-9.19380019e-02 -4.70258852e-03 9.95753629e-01 -3.54949876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.736296757 meters 0.07471774591561493 Centerline is valid? [True, True] Translation: X:30.32, Y:-1.40, Z:-3.55 [[ 9.86255841e-01 1.37754090e-01 9.12317174e-02 3.03181324e+01] [-1.37615722e-01 9.90454700e-01 -7.83583352e-03 -1.39952907e+00] [-9.14403014e-02 -4.82678208e-03 9.95798862e-01 -3.55379777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.766296757000003 meters 0.07616733682523537 Centerline is valid? [True, True] Translation: X:30.35, Y:-1.39, Z:-3.56 [[ 9.85720071e-01 1.42431466e-01 8.98288299e-02 3.03486054e+01] [-1.42314406e-01 9.89791244e-01 -7.73972729e-03 -1.39474099e+00] [-9.00141700e-02 -5.15473208e-03 9.95927145e-01 -3.56121376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.796296757000004 meters 0.0774117008512878 Centerline is valid? [True, True] Translation: X:30.38, Y:-1.39, Z:-3.57 [[ 9.85272049e-01 1.47327174e-01 8.67968546e-02 3.03789725e+01] [-1.47236287e-01 9.89073038e-01 -7.48341279e-03 -1.39075527e+00] [-8.69509387e-02 -5.40644917e-03 9.96197924e-01 -3.56766473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.826296757000005 meters 0.07857469781757417 Centerline is valid? [True, True] Translation: X:30.41, Y:-1.39, Z:-3.57 [[ 9.84997295e-01 1.49930045e-01 8.54477064e-02 3.04089697e+01] [-1.49851386e-01 9.88681060e-01 -7.37042209e-03 -1.39100454e+00] [-8.55855767e-02 -5.54461145e-03 9.96315395e-01 -3.57149493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.856296757000003 meters 0.07948904901213029 Centerline is valid? [True, True] Translation: X:30.44, Y:-1.39, Z:-3.58 [[ 9.84856933e-01 1.51203225e-01 8.48198456e-02 3.04405236e+01] [-1.51129929e-01 9.88486791e-01 -7.32178608e-03 -1.39321952e+00] [-8.49503747e-02 -5.60790546e-03 9.96369402e-01 -3.57558058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.886296757000004 meters 0.07946023403203038 Centerline is valid? [True, True] Translation: X:30.47, Y:-1.40, Z:-3.58 [[ 9.84943732e-01 1.51377090e-01 8.34914393e-02 3.04724456e+01] [-1.51306653e-01 9.88460597e-01 -7.20731327e-03 -1.39716891e+00] [-8.36190200e-02 -5.53401222e-03 9.96482430e-01 -3.57900592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.916296757000005 meters 0.07738488024644125 Centerline is valid? [True, True] Translation: X:30.50, Y:-1.40, Z:-3.58 [[ 9.84909547e-01 1.51118959e-01 8.43578384e-02 3.05044160e+01] [-1.51044420e-01 9.88500005e-01 -7.30222394e-03 -1.40355755e+00] [-8.44912282e-02 -5.54975074e-03 9.96408768e-01 -3.58087750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.946296757000002 meters 0.07748315079323767 Centerline is valid? [True, True] Translation: X:30.54, Y:-1.41, Z:-3.58 [[ 9.84814488e-01 1.50427664e-01 8.66714582e-02 3.05355874e+01] [-1.50343917e-01 9.88605076e-01 -7.53056068e-03 -1.40510451e+00] [-8.68166482e-02 -5.61432127e-03 9.96208487e-01 -3.58437553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.976296757000004 meters 0.07697685842089533 Centerline is valid? [True, True] Translation: X:30.57, Y:-1.41, Z:-3.59 [[ 9.84983908e-01 1.48595291e-01 8.78984696e-02 3.05664443e+01] [-1.48501643e-01 9.88882646e-01 -7.64036035e-03 -1.41003718e+00] [-8.80565927e-02 -5.52743517e-03 9.96100138e-01 -3.58566102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.006296757 meters 0.0772193573817053 Centerline is valid? [True, True] Translation: X:30.60, Y:-1.41, Z:-3.59 [[ 9.85091894e-01 1.47749188e-01 8.81143488e-02 3.05968078e+01] [-1.47651906e-01 9.89009750e-01 -7.65700936e-03 -1.41359456e+00] [-8.82772669e-02 -5.46739367e-03 9.96080936e-01 -3.58967817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.036296757 meters 0.07686157656834022 Centerline is valid? [True, True] Translation: X:30.63, Y:-1.42, Z:-3.59 [[ 9.85264908e-01 1.46698006e-01 8.79360945e-02 3.06282796e+01] [-1.46595252e-01 9.89166895e-01 -7.66071501e-03 -1.41850627e+00] [-8.81072851e-02 -5.34318026e-03 9.96096660e-01 -3.59292214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.066296756999996 meters 0.07714134742214489 Centerline is valid? [True, True] Translation: X:30.66, Y:-1.42, Z:-3.60 [[ 9.85331270e-01 1.46078423e-01 8.82234771e-02 3.06596197e+01] [-1.45970633e-01 9.89258901e-01 -7.70714384e-03 -1.41703013e+00] [-8.84017075e-02 -5.28394701e-03 9.96070890e-01 -3.59904086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.096296757 meters 0.077225899308061 Centerline is valid? [True, True] Translation: X:30.69, Y:-1.42, Z:-3.60 [[ 9.85262714e-01 1.46390100e-01 8.84721639e-02 3.06920750e+01] [-1.46281153e-01 9.89212705e-01 -7.74911662e-03 -1.41701651e+00] [-8.86521825e-02 -5.30689449e-03 9.96048507e-01 -3.60433429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.126296757 meters 0.07768231055361638 Centerline is valid? [True, True] Translation: X:30.72, Y:-1.42, Z:-3.61 [[ 9.85521511e-01 1.44843785e-01 8.81341558e-02 3.07232687e+01] [-1.44726893e-01 9.89441296e-01 -7.74905937e-03 -1.41752915e+00] [-8.83259765e-02 -5.11851780e-03 9.96078472e-01 -3.60826712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.156296757 meters 0.07718128180388205 Centerline is valid? [True, True] Translation: X:30.75, Y:-1.42, Z:-3.61 [[ 9.85548711e-01 1.43771565e-01 8.95738580e-02 3.07546984e+01] [-1.43646025e-01 9.89597757e-01 -7.88024684e-03 -1.42278975e+00] [-8.97750445e-02 -5.10056154e-03 9.95949008e-01 -3.61015418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.186296757 meters 0.07677037629246782 Centerline is valid? [True, True] Translation: X:30.79, Y:-1.43, Z:-3.61 [[ 9.85819431e-01 1.41526257e-01 9.01685587e-02 3.07852828e+01] [-1.41389250e-01 9.89922257e-01 -7.93759900e-03 -1.42765995e+00] [-9.03832418e-02 -4.92382556e-03 9.95894887e-01 -3.61193720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.216296757 meters 0.07668690933252001 Centerline is valid? [True, True] Translation: X:30.82, Y:-1.43, Z:-3.62 [[ 9.86178357e-01 1.39097485e-01 9.00229823e-02 3.08153218e+01] [-1.38950535e-01 9.90267586e-01 -7.92819520e-03 -1.43092261e+00] [-9.02496334e-02 -4.69012708e-03 9.95908131e-01 -3.61544946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.246296757 meters 0.07507074667963576 Centerline is valid? [True, True] Translation: X:30.85, Y:-1.44, Z:-3.62 [[ 9.86485860e-01 1.38549030e-01 8.74632211e-02 3.08472285e+01] [-1.38408559e-01 9.90345299e-01 -7.69802081e-03 -1.43750901e+00] [-8.76853431e-02 -4.51166976e-03 9.96138005e-01 -3.61807592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.276296757 meters 0.07728433377522864 Centerline is valid? [True, True] Translation: X:30.88, Y:-1.43, Z:-3.63 [[ 9.86892219e-01 1.38298217e-01 8.31706185e-02 3.08782550e+01] [-1.38168374e-01 9.90381534e-01 -7.34282418e-03 -1.42906298e+00] [-8.33861442e-02 -4.24497308e-03 9.96508269e-01 -3.62944131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.306296757 meters 0.07793681989623842 Centerline is valid? [True, True] Translation: X:30.91, Y:-1.43, Z:-3.64 [[ 9.86907920e-01 1.39273869e-01 8.13360139e-02 3.09093912e+01] [-1.39152068e-01 9.90244908e-01 -7.19192002e-03 -1.42806084e+00] [-8.15442202e-02 -4.22031171e-03 9.96660789e-01 -3.63508459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.336296757 meters 0.07669711254795306 Centerline is valid? [True, True] Translation: X:30.94, Y:-1.43, Z:-3.64 [[ 9.86656224e-01 1.40673134e-01 8.19790531e-02 3.09416342e+01] [-1.40554551e-01 9.90046430e-01 -7.24467650e-03 -1.43392244e+00] [-8.21822002e-02 -4.37452383e-03 9.96607721e-01 -3.63555620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.366296757 meters 0.07691049323223799 Centerline is valid? [True, True] Translation: X:30.97, Y:-1.44, Z:-3.63 [[ 9.86036984e-01 1.44183715e-01 8.33194004e-02 3.09727009e+01] [-1.44071427e-01 9.89539695e-01 -7.39028922e-03 -1.43812122e+00] [-8.35134134e-02 -4.71684638e-03 9.96495490e-01 -3.63469104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.396296757 meters 0.07821880952471837 Centerline is valid? [True, True] Translation: X:31.00, Y:-1.44, Z:-3.64 [[ 9.85876618e-01 1.45385655e-01 8.31282484e-02 3.10036728e+01] [-1.45278552e-01 9.89363356e-01 -7.36827984e-03 -1.43710826e+00] [-8.33152851e-02 -4.81253676e-03 9.96511617e-01 -3.63830266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.426296757 meters 0.07745524376171375 Centerline is valid? [True, True] Translation: X:31.04, Y:-1.44, Z:-3.64 [[ 9.85623468e-01 1.46876872e-01 8.35078688e-02 3.10351820e+01] [-1.46772158e-01 9.89142457e-01 -7.42524536e-03 -1.44118420e+00] [-8.36917753e-02 -4.93813401e-03 9.96479454e-01 -3.64102367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.456296757 meters 0.07775200272896146 Centerline is valid? [True, True] Translation: X:31.07, Y:-1.44, Z:-3.65 [[ 9.85162447e-01 1.49980273e-01 8.34318308e-02 3.10662247e+01] [-1.49886205e-01 9.88675368e-01 -7.42572603e-03 -1.44112481e+00] [-8.36007085e-02 -5.18973404e-03 9.96485819e-01 -3.64503663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.486296757 meters 0.08078768531770068 Centerline is valid? [True, True] Translation: X:31.10, Y:-1.44, Z:-3.65 [[ 9.85111769e-01 1.50544766e-01 8.30125018e-02 3.10967189e+01] [-1.50453782e-01 9.88589449e-01 -7.38654831e-03 -1.43637105e+00] [-8.31772896e-02 -5.21296920e-03 9.96521130e-01 -3.65293802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.516296757 meters 0.07706321975341632 Centerline is valid? [True, True] Translation: X:31.13, Y:-1.45, Z:-3.65 [[ 9.84857611e-01 1.51579246e-01 8.41380951e-02 3.11279809e+01] [-1.51489021e-01 9.88430540e-01 -7.49292970e-03 -1.44787151e+00] [-8.43004354e-02 -5.36652881e-03 9.96425931e-01 -3.65313057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.546296757 meters 0.07695881702997287 Centerline is valid? [True, True] Translation: X:31.16, Y:-1.45, Z:-3.66 [[ 9.84747976e-01 1.51575175e-01 8.54189136e-02 3.11596800e+01] [-1.51480359e-01 9.88430832e-01 -7.62828687e-03 -1.45020007e+00] [-8.55869468e-02 -5.42734763e-03 9.96315923e-01 -3.65624002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.576296757 meters 0.07734298575473061 Centerline is valid? [True, True] Translation: X:31.19, Y:-1.45, Z:-3.66 [[ 9.84700352e-01 1.51766190e-01 8.56284989e-02 3.11901725e+01] [-1.51669768e-01 9.88401474e-01 -7.66862061e-03 -1.45254158e+00] [-8.57991718e-02 -5.43596111e-03 9.96297622e-01 -3.65844165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.606296757 meters 0.07726472467083097 Centerline is valid? [True, True] Translation: X:31.22, Y:-1.46, Z:-3.66 [[ 9.84643342e-01 1.51212797e-01 8.72477985e-02 3.12218519e+01] [-1.51108368e-01 9.88486124e-01 -7.83863137e-03 -1.45621123e+00] [-8.74285395e-02 -5.46561625e-03 9.96155800e-01 -3.66086412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.636296757 meters 0.07624923932025572 Centerline is valid? [True, True] Translation: X:31.25, Y:-1.46, Z:-3.66 [[ 9.84874857e-01 1.49774366e-01 8.71157527e-02 3.12531353e+01] [-1.49664222e-01 9.88705864e-01 -7.83170698e-03 -1.46155520e+00] [-8.73048445e-02 -5.32486006e-03 9.96167411e-01 -3.66230067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.666296757 meters 0.07616855965441997 Centerline is valid? [True, True] Translation: X:31.29, Y:-1.46, Z:-3.67 [[ 9.84882991e-01 1.49609913e-01 8.73061749e-02 3.12852268e+01] [-1.49498882e-01 9.88730763e-01 -7.84615078e-03 -1.46413367e+00] [-8.74961629e-02 -5.32463513e-03 9.96150626e-01 -3.66608183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.696296757 meters 0.07609353011698645 Centerline is valid? [True, True] Translation: X:31.32, Y:-1.47, Z:-3.67 [[ 9.84908557e-01 1.49430985e-01 8.73241922e-02 3.13172086e+01] [-1.49317370e-01 9.88758012e-01 -7.86869948e-03 -1.46649472e+00] [-8.75183222e-02 -5.28906929e-03 9.96148869e-01 -3.67161177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.726296757 meters 0.07615159310059516 Centerline is valid? [True, True] Translation: X:31.35, Y:-1.47, Z:-3.68 [[ 9.84967024e-01 1.49346608e-01 8.68075650e-02 3.13490343e+01] [-1.49232242e-01 9.88771074e-01 -7.84227174e-03 -1.46732208e+00] [-8.70040259e-02 -5.23010849e-03 9.96194231e-01 -3.67784975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.756296757 meters 0.07424954683664486 Centerline is valid? [True, True] Translation: X:31.38, Y:-1.48, Z:-3.68 [[ 9.84849104e-01 1.49229917e-01 8.83327454e-02 3.13804576e+01] [-1.49108993e-01 9.88788378e-01 -8.00325931e-03 -1.47591409e+00] [-8.85367178e-02 -5.28920396e-03 9.96058871e-01 -3.67925137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.786296757 meters 0.07389247516481119 Centerline is valid? [True, True] Translation: X:31.41, Y:-1.48, Z:-3.68 [[ 9.85016674e-01 1.48127924e-01 8.83191433e-02 3.14114263e+01] [-1.48000641e-01 9.88954710e-01 -8.02441349e-03 -1.48145812e+00] [-8.85322725e-02 -5.16710871e-03 9.96059907e-01 -3.68152081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.816296756999996 meters 0.07409613307214985 Centerline is valid? [True, True] Translation: X:31.44, Y:-1.48, Z:-3.69 [[ 9.84971266e-01 1.48091482e-01 8.88848565e-02 3.14434565e+01] [-1.47960626e-01 9.88960115e-01 -8.09591558e-03 -1.48420895e+00] [-8.91025141e-02 -5.17721475e-03 9.96009005e-01 -3.68541572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.846296757 meters 0.07300429738416866 Centerline is valid? [True, True] Translation: X:31.47, Y:-1.49, Z:-3.69 [[ 9.85213524e-01 1.47263649e-01 8.75655755e-02 3.14749376e+01] [-1.47131536e-01 9.89084610e-01 -7.99663271e-03 -1.48921070e+00] [-8.77873764e-02 -5.00526691e-03 9.96126661e-01 -3.68851031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.876296757 meters 0.07324635835735543 Centerline is valid? [True, True] Translation: X:31.51, Y:-1.49, Z:-3.69 [[ 9.85343963e-01 1.47106067e-01 8.63543876e-02 3.15065325e+01] [-1.46975159e-01 9.89108581e-01 -7.90681344e-03 -1.49041758e+00] [-8.65770060e-02 -4.90101896e-03 9.96233106e-01 -3.69211971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.906296757 meters 0.07470838383326799 Centerline is valid? [True, True] Translation: X:31.54, Y:-1.49, Z:-3.70 [[ 9.85549260e-01 1.46416517e-01 8.51754665e-02 3.15371963e+01] [-1.46284567e-01 9.89211623e-01 -7.82236375e-03 -1.48808087e+00] [-8.54018848e-02 -4.75053147e-03 9.96335260e-01 -3.69867687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.936296757 meters 0.07301638605956128 Centerline is valid? [True, True] Translation: X:31.57, Y:-1.50, Z:-3.70 [[ 9.85687232e-01 1.46678927e-01 8.31021805e-02 3.15685138e+01] [-1.46552747e-01 9.89173279e-01 -7.64966010e-03 -1.49753302e+00] [-8.33245003e-02 -4.63868052e-03 9.96511671e-01 -3.70002538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.966296757 meters 0.0746216910000475 Centerline is valid? [True, True] Translation: X:31.60, Y:-1.50, Z:-3.71 [[ 9.85826511e-01 1.46720805e-01 8.13578199e-02 3.15990841e+01] [-1.46598308e-01 9.89167600e-01 -7.50964011e-03 -1.49679919e+00] [-8.15783399e-02 -4.52371645e-03 9.96656666e-01 -3.70658125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.996296757 meters 0.07330806642125473 Centerline is valid? [True, True] Translation: X:31.63, Y:-1.50, Z:-3.71 [[ 9.85659485e-01 1.47545305e-01 8.18887263e-02 3.16306531e+01] [-1.47422521e-01 9.89044583e-01 -7.57708938e-03 -1.50281199e+00] [-8.21095652e-02 -4.60381248e-03 9.96612675e-01 -3.70874586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.026296757 meters 0.07349764150598809 Centerline is valid? [True, True] Translation: X:31.66, Y:-1.50, Z:-3.71 [[ 9.85461791e-01 1.48758675e-01 8.20726204e-02 3.16625356e+01] [-1.48637817e-01 9.88862384e-01 -7.61483321e-03 -1.50319358e+00] [-8.22912996e-02 -4.69496794e-03 9.96597260e-01 -3.71346217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.056296757 meters 0.0737808598380928 Centerline is valid? [True, True] Translation: X:31.69, Y:-1.50, Z:-3.72 [[ 9.85152110e-01 1.49797487e-01 8.38810629e-02 3.16943894e+01] [-1.49673196e-01 9.88704723e-01 -7.80412169e-03 -1.50290998e+00] [-8.41026409e-02 -4.86649983e-03 9.96445213e-01 -3.71755913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.086296757 meters 0.07443103800944467 Centerline is valid? [True, True] Translation: X:31.73, Y:-1.50, Z:-3.72 [[ 9.85156050e-01 1.50113168e-01 8.32682016e-02 3.17250248e+01] [-1.49990038e-01 9.88656990e-01 -7.76814362e-03 -1.50486527e+00] [-8.34897903e-02 -4.83656704e-03 9.96496895e-01 -3.72123701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.116296757 meters 0.07404049811672392 Centerline is valid? [True, True] Translation: X:31.76, Y:-1.51, Z:-3.72 [[ 9.85393896e-01 1.48023522e-01 8.41897094e-02 3.17559432e+01] [-1.47887949e-01 9.88972736e-01 -7.87916691e-03 -1.51167741e+00] [-8.44276293e-02 -4.68656048e-03 9.96418593e-01 -3.72389568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.146296757 meters 0.0735081453350497 Centerline is valid? [True, True] Translation: X:31.79, Y:-1.52, Z:-3.73 [[ 9.85537367e-01 1.46491568e-01 8.51840298e-02 3.17870480e+01] [-1.46346661e-01 9.89201202e-01 -7.97723065e-03 -1.51643771e+00] [-8.54327417e-02 -4.60453941e-03 9.96333300e-01 -3.72666878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.176296757 meters 0.0735081453350497 Centerline is valid? [True, True] Translation: X:31.82, Y:-1.52, Z:-3.73 [[ 9.85497175e-01 1.46761476e-01 8.51844306e-02 3.18191460e+01] [-1.46617939e-01 9.89161065e-01 -7.97296544e-03 -1.51953899e+00] [-8.54312462e-02 -4.63223075e-03 9.96333300e-01 -3.73042540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.206296757 meters 0.0736945911086856 Centerline is valid? [True, True] Translation: X:31.85, Y:-1.52, Z:-3.73 [[ 9.85555757e-01 1.45777956e-01 8.61895411e-02 3.18496702e+01] [-1.45624553e-01 9.89306780e-01 -8.09847455e-03 -1.52259280e+00] [-8.64484764e-02 -4.56981517e-03 9.96245842e-01 -3.73398417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.236296757 meters 0.07384584120841932 Centerline is valid? [True, True] Translation: X:31.88, Y:-1.53, Z:-3.74 [[ 9.85344867e-01 1.45359084e-01 8.92537383e-02 3.18798606e+01] [-1.45192573e-01 9.89367840e-01 -8.39007855e-03 -1.52647279e+00] [-8.95243524e-02 -4.69185910e-03 9.95973582e-01 -3.73620926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.266296757 meters 0.07394931510464342 Centerline is valid? [True, True] Translation: X:31.91, Y:-1.53, Z:-3.74 [[ 9.85151854e-01 1.46508677e-01 8.95043749e-02 3.19111753e+01] [-1.46346283e-01 9.89197674e-01 -8.40998209e-03 -1.52994099e+00] [-8.97696548e-02 -4.81352314e-03 9.95950922e-01 -3.73934854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.296296757 meters 0.07511394330656403 Centerline is valid? [True, True] Translation: X:31.94, Y:-1.53, Z:-3.74 [[ 9.84673928e-01 1.49415578e-01 8.99568860e-02 3.19408940e+01] [-1.49261290e-01 9.88761442e-01 -8.47808969e-03 -1.52995680e+00] [-9.02126591e-02 -5.07892694e-03 9.95909575e-01 -3.74387576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.326296757 meters 0.07550117470362289 Centerline is valid? [True, True] Translation: X:31.97, Y:-1.53, Z:-3.75 [[ 9.84476327e-01 1.51169619e-01 8.91858076e-02 3.19718356e+01] [-1.51025189e-01 9.88494186e-01 -8.40454603e-03 -1.53096658e+00] [-8.94301643e-02 -5.19522685e-03 9.95979546e-01 -3.74828996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.356296757 meters 0.07399687490695538 Centerline is valid? [True, True] Translation: X:32.00, Y:-1.54, Z:-3.75 [[ 9.84141022e-01 1.53345073e-01 8.91725137e-02 3.20022156e+01] [-1.53209434e-01 9.88157998e-01 -8.40473383e-03 -1.53798030e+00] [-8.94053571e-02 -5.39062701e-03 9.95980734e-01 -3.75006020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.386296757 meters 0.07473865754063864 Centerline is valid? [True, True] Translation: X:32.03, Y:-1.54, Z:-3.75 [[ 9.83796578e-01 1.55465838e-01 8.93009844e-02 3.20332600e+01] [-1.55337604e-01 9.87825500e-01 -8.42674506e-03 -1.54035362e+00] [-8.95238606e-02 -5.58159797e-03 9.95969038e-01 -3.75314806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.416296757 meters 0.07479299647090626 Centerline is valid? [True, True] Translation: X:32.06, Y:-1.55, Z:-3.76 [[ 9.83750642e-01 1.56132212e-01 8.86420194e-02 3.20649046e+01] [-1.56008770e-01 9.87720275e-01 -8.36199047e-03 -1.54508343e+00] [-8.88590958e-02 -5.60281893e-03 9.96028448e-01 -3.75653155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.446296757 meters 0.07565529976199871 Centerline is valid? [True, True] Translation: X:32.10, Y:-1.55, Z:-3.76 [[ 9.83756075e-01 1.56684641e-01 8.76008432e-02 3.20954693e+01] [-1.56564300e-01 9.87633012e-01 -8.28579970e-03 -1.54788275e+00] [-8.78157422e-02 -5.56395889e-03 9.96121196e-01 -3.76079781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.476296757 meters 0.07445337816873297 Centerline is valid? [True, True] Translation: X:32.13, Y:-1.55, Z:-3.76 [[ 9.83987541e-01 1.55758563e-01 8.66475003e-02 3.21273300e+01] [-1.55635565e-01 9.87780384e-01 -8.21484279e-03 -1.55420937e+00] [-8.68682332e-02 -5.40212973e-03 9.96205163e-01 -3.76322951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.506296757 meters 0.07469629240581356 Centerline is valid? [True, True] Translation: X:32.16, Y:-1.56, Z:-3.77 [[ 9.84104202e-01 1.55246362e-01 8.62408698e-02 3.21587748e+01] [-1.55120690e-01 9.87861513e-01 -8.19777552e-03 -1.55633211e+00] [-8.64667109e-02 -5.31027788e-03 9.96240588e-01 -3.76757366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.536296757 meters 0.07492102424912003 Centerline is valid? [True, True] Translation: X:32.19, Y:-1.56, Z:-3.77 [[ 9.84046102e-01 1.55345592e-01 8.67237967e-02 3.21910452e+01] [-1.55217016e-01 9.87845820e-01 -8.26524961e-03 -1.55839449e+00] [-8.69537102e-02 -5.32762227e-03 9.96198107e-01 -3.77075440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.566296756999996 meters 0.07539171528133869 Centerline is valid? [True, True] Translation: X:32.22, Y:-1.56, Z:-3.77 [[ 9.83951407e-01 1.55399182e-01 8.76967625e-02 3.22222726e+01] [-1.55265952e-01 9.87837159e-01 -8.38039867e-03 -1.55971766e+00] [-8.79324278e-02 -5.37041630e-03 9.96111965e-01 -3.77390503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.596296757 meters 0.07606068714297012 Centerline is valid? [True, True] Translation: X:32.25, Y:-1.56, Z:-3.78 [[ 9.83420634e-01 1.57256886e-01 9.03002131e-02 3.22543885e+01] [-1.57121557e-01 9.87541388e-01 -8.65006692e-03 -1.55844809e+00] [-9.05354803e-02 -5.68145575e-03 9.95877024e-01 -3.77609707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.626296757 meters 0.0812093424659933 Centerline is valid? [True, True] Translation: X:32.29, Y:-1.55, Z:-3.78 [[ 9.83155303e-01 1.58374575e-01 9.12312715e-02 3.22860786e+01] [-1.58239159e-01 9.87361939e-01 -8.76190101e-03 -1.54674531e+00] [-9.14659474e-02 -5.82205021e-03 9.95791185e-01 -3.78365576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.656296757 meters 0.07759179787579015 Centerline is valid? [True, True] Translation: X:32.32, Y:-1.55, Z:-3.78 [[ 9.82869316e-01 1.59994740e-01 9.14854675e-02 3.23175604e+01] [-1.59863335e-01 9.87099839e-01 -8.81030594e-03 -1.55349068e+00] [-9.17148929e-02 -5.96579260e-03 9.95767437e-01 -3.78455880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.686296757 meters 0.0783614243956488 Centerline is valid? [True, True] Translation: X:32.35, Y:-1.55, Z:-3.79 [[ 9.82749973e-01 1.61271868e-01 9.05200262e-02 3.23490186e+01] [-1.61148374e-01 9.86891671e-01 -8.71965177e-03 -1.55360898e+00] [-9.07396944e-02 -6.01791745e-03 9.95856462e-01 -3.78908142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.716296757 meters 0.07839472157914772 Centerline is valid? [True, True] Translation: X:32.38, Y:-1.56, Z:-3.79 [[ 9.82731471e-01 1.62051788e-01 8.93200670e-02 3.23809990e+01] [-1.61933030e-01 9.86764075e-01 -8.62289815e-03 -1.55620735e+00] [-8.95351893e-02 -5.98987574e-03 9.95965648e-01 -3.79380622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.746296757 meters 0.0789822067403585 Centerline is valid? [True, True] Translation: X:32.41, Y:-1.56, Z:-3.80 [[ 9.82570233e-01 1.63271937e-01 8.88707580e-02 3.24121679e+01] [-1.63157399e-01 9.86562561e-01 -8.60098741e-03 -1.55768176e+00] [-8.90808624e-02 -6.04884752e-03 9.96006030e-01 -3.79808440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.776296757 meters 0.0768443521510419 Centerline is valid? [True, True] Translation: X:32.44, Y:-1.56, Z:-3.80 [[ 9.82603981e-01 1.63015843e-01 8.89676993e-02 3.24440662e+01] [-1.62898316e-01 9.86605125e-01 -8.62933944e-03 -1.56452030e+00] [-8.91827072e-02 -6.01346513e-03 9.95997130e-01 -3.79932414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.806296757 meters 0.07688414608291731 Centerline is valid? [True, True] Translation: X:32.48, Y:-1.56, Z:-3.81 [[ 9.82698452e-01 1.62953503e-01 8.80335590e-02 3.24772917e+01] [-1.62836364e-01 9.86615964e-01 -8.55906617e-03 -1.56337769e+00] [-8.82500445e-02 -5.92408357e-03 9.96080737e-01 -3.80507874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.836296757 meters 0.075078335883993 Centerline is valid? [True, True] Translation: X:32.51, Y:-1.57, Z:-3.81 [[ 9.82668049e-01 1.63433355e-01 8.74816788e-02 3.25084005e+01] [-1.63317330e-01 9.86536708e-01 -8.53072005e-03 -1.56941106e+00] [-8.76980916e-02 -5.90440817e-03 9.96129601e-01 -3.80702839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.866296757 meters 0.07548871837717834 Centerline is valid? [True, True] Translation: X:32.54, Y:-1.57, Z:-3.81 [[ 9.82656493e-01 1.63155272e-01 8.81281645e-02 3.25409473e+01] [-1.63034402e-01 9.86582758e-01 -8.61659360e-03 -1.56892169e+00] [-8.83515702e-02 -5.90077093e-03 9.96071875e-01 -3.81165369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.896296757 meters 0.07625687233723522 Centerline is valid? [True, True] Translation: X:32.57, Y:-1.57, Z:-3.82 [[ 9.82484483e-01 1.63489814e-01 8.94165590e-02 3.25718604e+01] [-1.63365654e-01 9.86526741e-01 -8.75513204e-03 -1.56941367e+00] [-8.96432015e-02 -6.00581324e-03 9.95955836e-01 -3.81534399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.926296757 meters 0.07607064314033482 Centerline is valid? [True, True] Translation: X:32.60, Y:-1.57, Z:-3.82 [[ 9.82509907e-01 1.63239062e-01 8.95951547e-02 3.26038902e+01] [-1.63111515e-01 9.86568453e-01 -8.79322063e-03 -1.57347075e+00] [-8.98271503e-02 -5.97457501e-03 9.95939450e-01 -3.81876210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.956296757 meters 0.07542314823761515 Centerline is valid? [True, True] Translation: X:32.64, Y:-1.58, Z:-3.82 [[ 9.82786714e-01 1.61359625e-01 8.99630209e-02 3.26354775e+01] [-1.61220794e-01 9.86878628e-01 -8.85598961e-03 -1.57909448e+00] [-9.02115818e-02 -5.80036071e-03 9.95905732e-01 -3.82084698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.986296757 meters 0.07534165994715152 Centerline is valid? [True, True] Translation: X:32.67, Y:-1.58, Z:-3.83 [[ 9.82907161e-01 1.60115973e-01 9.08646719e-02 3.26653339e+01] [-1.59968496e-01 9.87081535e-01 -8.95111584e-03 -1.58019233e+00] [-9.11240565e-02 -5.73736908e-03 9.95823021e-01 -3.82523137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.016296757 meters 0.07452244873417697 Centerline is valid? [True, True] Translation: X:32.70, Y:-1.58, Z:-3.83 [[ 9.83011377e-01 1.58402624e-01 9.27213149e-02 3.26962886e+01] [-1.58240448e-01 9.87358254e-01 -9.14544438e-03 -1.58120214e+00] [-9.29978179e-02 -5.68218657e-03 9.95650098e-01 -3.82850586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.046296757 meters 0.07392923849006111 Centerline is valid? [True, True] Translation: X:32.73, Y:-1.59, Z:-3.83 [[ 9.83079964e-01 1.56661319e-01 9.49263638e-02 3.27272504e+01] [-1.56482987e-01 9.87636242e-01 -9.36628345e-03 -1.58517776e+00] [-9.52200516e-02 -5.64655538e-03 9.95440233e-01 -3.83136755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.076296757 meters 0.07356621094369446 Centerline is valid? [True, True] Translation: X:32.76, Y:-1.59, Z:-3.83 [[ 9.83626495e-01 1.51834154e-01 9.70840241e-02 3.27566341e+01] [-1.51623896e-01 9.88391805e-01 -9.58295576e-03 -1.59018694e+00] [-9.74120739e-02 -5.29420878e-03 9.95230053e-01 -3.83426044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.106296757 meters 0.07275336988466513 Centerline is valid? [True, True] Translation: X:32.79, Y:-1.60, Z:-3.84 [[ 9.83968469e-01 1.49789992e-01 9.67936436e-02 3.27875259e+01] [-1.49571127e-01 9.88704804e-01 -9.55446453e-03 -1.59648434e+00] [-9.71315036e-02 -5.07624254e-03 9.95258611e-01 -3.83672247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.136296757 meters 0.07242792646704928 Centerline is valid? [True, True] Translation: X:32.82, Y:-1.60, Z:-3.84 [[ 9.84432652e-01 1.47326406e-01 9.58503212e-02 3.28181128e+01] [-1.47099835e-01 9.89076367e-01 -9.46461421e-03 -1.60137109e+00] [-9.61976751e-02 -4.78229113e-03 9.95350761e-01 -3.84071370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.166296757 meters 0.07078269692502467 Centerline is valid? [True, True] Translation: X:32.85, Y:-1.61, Z:-3.84 [[ 9.84885726e-01 1.45097995e-01 9.45868843e-02 3.28491129e+01] [-1.44866845e-01 9.89407051e-01 -9.34265236e-03 -1.61054565e+00] [-9.49405304e-02 -4.50105852e-03 9.95472770e-01 -3.84280651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.196296757 meters 0.0705289198686253 Centerline is valid? [True, True] Translation: X:32.88, Y:-1.61, Z:-3.85 [[ 9.85499719e-01 1.42617296e-01 9.19272021e-02 3.28805735e+01] [-1.42388162e-01 9.89769246e-01 -9.08023105e-03 -1.61404942e+00] [-9.22817156e-02 -4.14078018e-03 9.95724329e-01 -3.84950495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.226296757 meters 0.0707196216796077 Centerline is valid? [True, True] Translation: X:32.91, Y:-1.62, Z:-3.85 [[ 9.85711901e-01 1.41687146e-01 9.10867778e-02 3.29108743e+01] [-1.41455945e-01 9.89903439e-01 -9.02199175e-03 -1.61632102e+00] [-9.14454149e-02 -3.99168160e-03 9.95802090e-01 -3.85481491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.256296757 meters 0.07083520727829073 Centerline is valid? [True, True] Translation: X:32.94, Y:-1.62, Z:-3.86 [[ 9.85470216e-01 1.42604455e-01 9.22627961e-02 3.29436042e+01] [-1.42370323e-01 9.89771184e-01 -9.14851070e-03 -1.61962064e+00] [-9.26236753e-02 -4.11989931e-03 9.95692664e-01 -3.85827178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.286296757 meters 0.07115125902452567 Centerline is valid? [True, True] Translation: X:32.97, Y:-1.62, Z:-3.86 [[ 9.85287340e-01 1.43548523e-01 9.27506318e-02 3.29747618e+01] [-1.43313527e-01 9.89634351e-01 -9.22414013e-03 -1.62096101e+00] [-9.31133229e-02 -4.20399172e-03 9.95646642e-01 -3.86227401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.316296756999996 meters 0.07078171894846977 Centerline is valid? [True, True] Translation: X:33.01, Y:-1.62, Z:-3.87 [[ 9.85199859e-01 1.44954568e-01 9.14844856e-02 3.30060504e+01] [-1.44730122e-01 9.89429153e-01 -9.11826189e-03 -1.62487704e+00] [-9.18391508e-02 -4.25725040e-03 9.95764754e-01 -3.86553236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.346296757 meters 0.07231813679632439 Centerline is valid? [True, True] Translation: X:33.04, Y:-1.62, Z:-3.87 [[ 9.84807649e-01 1.47433305e-01 9.17459260e-02 3.30364425e+01] [-1.47216113e-01 9.89061863e-01 -9.16776737e-03 -1.62344938e+00] [-9.20940307e-02 -4.47799116e-03 9.95740246e-01 -3.87045686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.376296757 meters 0.07204178355526801 Centerline is valid? [True, True] Translation: X:33.07, Y:-1.63, Z:-3.87 [[ 9.84600756e-01 1.48960250e-01 9.14997057e-02 3.30675868e+01] [-1.48749980e-01 9.88832487e-01 -9.15185166e-03 -1.62729406e+00] [-9.18411437e-02 -4.59965933e-03 9.95763048e-01 -3.87382470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.406296757 meters 0.07275620057419463 Centerline is valid? [True, True] Translation: X:33.10, Y:-1.63, Z:-3.88 [[ 9.84348653e-01 1.51261998e-01 9.04297381e-02 3.30971471e+01] [-1.51064133e-01 9.88482369e-01 -9.06827715e-03 -1.62698448e+00] [-9.07598875e-02 -4.73434363e-03 9.95861551e-01 -3.87820024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.436296757 meters 0.07343823974433615 Centerline is valid? [True, True] Translation: X:33.13, Y:-1.63, Z:-3.88 [[ 9.84177711e-01 1.52860990e-01 8.95977201e-02 3.31292284e+01] [-1.52672653e-01 9.88235902e-01 -8.99237041e-03 -1.62937699e+00] [-8.99182664e-02 -4.82903112e-03 9.95937441e-01 -3.88282034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.466296757 meters 0.07371810993578712 Centerline is valid? [True, True] Translation: X:33.16, Y:-1.63, Z:-3.89 [[ 9.84053318e-01 1.54095373e-01 8.88464038e-02 3.31612372e+01] [-1.53914643e-01 9.88043857e-01 -8.92294611e-03 -1.63278775e+00] [-8.91591282e-02 -4.89410779e-03 9.96005370e-01 -3.88580289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.496296757 meters 0.07165039290919295 Centerline is valid? [True, True] Translation: X:33.19, Y:-1.64, Z:-3.89 [[ 9.83946316e-01 1.54977121e-01 8.84971153e-02 3.31929754e+01] [-1.54801250e-01 9.87905642e-01 -8.88901877e-03 -1.64168602e+00] [-8.88043941e-02 -4.95314678e-03 9.96036769e-01 -3.88584395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.526296757 meters 0.07166642508871063 Centerline is valid? [True, True] Translation: X:33.23, Y:-1.64, Z:-3.89 [[ 9.83962593e-01 1.54878843e-01 8.84881934e-02 3.32252446e+01] [-1.54700252e-01 9.87921233e-01 -8.91458674e-03 -1.64453079e+00] [-8.88000460e-02 -4.91752597e-03 9.96037334e-01 -3.88990647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.556296757 meters 0.07163261617834722 Centerline is valid? [True, True] Translation: X:33.26, Y:-1.65, Z:-3.89 [[ 9.83785879e-01 1.54933685e-01 9.03376901e-02 3.32568636e+01] [-1.54747410e-01 9.87912108e-01 -9.10524990e-03 -1.64808809e+00] [-9.06564078e-02 -5.02190725e-03 9.95869568e-01 -3.89192433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.586296757 meters 0.07211064247751373 Centerline is valid? [True, True] Translation: X:33.29, Y:-1.65, Z:-3.90 [[ 9.83857733e-01 1.54354483e-01 9.05464258e-02 3.32872087e+01] [-1.54162824e-01 9.88003096e-01 -9.14912591e-03 -1.65030998e+00] [-9.08723576e-02 -4.95745441e-03 9.95850209e-01 -3.89617104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.616296757 meters 0.07165472695882913 Centerline is valid? [True, True] Translation: X:33.32, Y:-1.66, Z:-3.90 [[ 9.84125260e-01 1.53655586e-01 8.88112252e-02 3.33196609e+01] [-1.53466719e-01 9.88112903e-01 -8.99203016e-03 -1.65684487e+00] [-8.91371933e-02 -4.78028329e-03 9.96007886e-01 -3.89880984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.646296757 meters 0.07186582162027867 Centerline is valid? [True, True] Translation: X:33.35, Y:-1.66, Z:-3.90 [[ 9.84647854e-01 1.51167714e-01 8.72750035e-02 3.33493974e+01] [-1.50973035e-01 9.88498127e-01 -8.86539784e-03 -1.66239540e+00] [-8.76113394e-02 -4.44687718e-03 9.96144808e-01 -3.90388454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.676296757 meters 0.0713726869191083 Centerline is valid? [True, True] Translation: X:33.38, Y:-1.67, Z:-3.91 [[ 9.84910842e-01 1.50456920e-01 8.55181193e-02 3.33820680e+01] [-1.50267014e-01 9.88607253e-01 -8.69045466e-03 -1.66746504e+00] [-8.58513720e-02 -4.29122943e-03 9.96298714e-01 -3.90849400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.706296757 meters 0.07171533222558608 Centerline is valid? [True, True] Translation: X:33.41, Y:-1.67, Z:-3.92 [[ 9.85421264e-01 1.48834910e-01 8.24202802e-02 3.34136266e+01] [-1.48650983e-01 9.88854063e-01 -8.39801341e-03 -1.66947588e+00] [-8.27515465e-02 -3.97627464e-03 9.96562276e-01 -3.91561702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.736296757 meters 0.07172114156705751 Centerline is valid? [True, True] Translation: X:33.44, Y:-1.67, Z:-3.92 [[ 9.85657622e-01 1.48266530e-01 8.05983108e-02 3.34444913e+01] [-1.48087017e-01 9.88940061e-01 -8.23359748e-03 -1.67468505e+00] [-8.09276653e-02 -3.82005529e-03 9.96712657e-01 -3.92082985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.766296757 meters 0.07183428855908199 Centerline is valid? [True, True] Translation: X:33.48, Y:-1.68, Z:-3.92 [[ 9.85783240e-01 1.47505873e-01 8.04575736e-02 3.34759669e+01] [-1.47323068e-01 9.89054132e-01 -8.23641525e-03 -1.68091535e+00] [-8.07918152e-02 -3.73393648e-03 9.96724004e-01 -3.92457365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.796296757 meters 0.07163935307428965 Centerline is valid? [True, True] Translation: X:33.51, Y:-1.69, Z:-3.93 [[ 9.85923696e-01 1.44899387e-01 8.34184261e-02 3.35054526e+01] [-1.44691252e-01 9.89439761e-01 -8.56742548e-03 -1.69099467e+00] [-8.37789223e-02 -3.62308872e-03 9.96477780e-01 -3.92579613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.826296757 meters 0.07189594265641332 Centerline is valid? [True, True] Translation: X:33.54, Y:-1.69, Z:-3.93 [[ 9.85695735e-01 1.44352691e-01 8.69840174e-02 3.35361662e+01] [-1.44124333e-01 9.89519266e-01 -8.93299935e-03 -1.69428463e+00] [-8.73618636e-02 -3.73129414e-03 9.96169655e-01 -3.92767976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.856296757 meters 0.072465631824145 Centerline is valid? [True, True] Translation: X:33.57, Y:-1.69, Z:-3.93 [[ 9.85523182e-01 1.45688427e-01 8.67118256e-02 3.35680681e+01] [-1.45466718e-01 9.89323076e-01 -8.90421164e-03 -1.69464911e+00] [-8.70832507e-02 -3.83837767e-03 9.96193643e-01 -3.93276545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.886296757 meters 0.07283935202772407 Centerline is valid? [True, True] Translation: X:33.60, Y:-1.70, Z:-3.94 [[ 9.85384675e-01 1.47200331e-01 8.57269206e-02 3.35992506e+01] [-1.46987592e-01 9.89098984e-01 -8.82309715e-03 -1.69590916e+00] [-8.60911729e-02 -3.90664891e-03 9.96279603e-01 -3.93760226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.916296757 meters 0.07460073348583589 Centerline is valid? [True, True] Translation: X:33.63, Y:-1.70, Z:-3.94 [[ 9.85163911e-01 1.50852242e-01 8.18270737e-02 3.36288323e+01] [-1.50669122e-01 9.88548187e-01 -8.44377426e-03 -1.69641923e+00] [-8.21637677e-02 -4.01031169e-03 9.96610773e-01 -3.94363458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.946296757 meters 0.07284243159993473 Centerline is valid? [True, True] Translation: X:33.66, Y:-1.71, Z:-3.94 [[ 9.85006335e-01 1.53028760e-01 7.96537401e-02 3.36593581e+01] [-1.52861976e-01 9.88213331e-01 -8.22366863e-03 -1.70666385e+00] [-7.99733456e-02 -4.07566241e-03 9.96788670e-01 -3.94374555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.976296757 meters 0.073530420706154 Centerline is valid? [True, True] Translation: X:33.69, Y:-1.71, Z:-3.95 [[ 9.84802919e-01 1.54650459e-01 7.90344608e-02 3.36914005e+01] [-1.54491283e-01 9.87960438e-01 -8.16186870e-03 -1.70860669e+00] [-7.93451573e-02 -4.17230312e-03 9.96838471e-01 -3.94851823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.006296757 meters 0.07434088863530361 Centerline is valid? [True, True] Translation: X:33.72, Y:-1.71, Z:-3.95 [[ 9.84333078e-01 1.58075276e-01 7.81063286e-02 3.37224616e+01] [-1.57929972e-01 9.87417312e-01 -8.07321278e-03 -1.70878769e+00] [-7.83997163e-02 -4.38859988e-03 9.96912346e-01 -3.95302975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.036296757 meters 0.07505804312498626 Centerline is valid? [True, True] Translation: X:33.75, Y:-1.71, Z:-3.96 [[ 9.83965124e-01 1.59940806e-01 7.89403084e-02 3.37546570e+01] [-1.59798886e-01 9.87115924e-01 -8.15281228e-03 -1.70746360e+00] [-7.92272028e-02 -4.59249042e-03 9.96846006e-01 -3.95842806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.066296757 meters 0.07505804312498626 Centerline is valid? [True, True] Translation: X:33.79, Y:-1.71, Z:-3.96 [[ 9.83921601e-01 1.60209227e-01 7.89385009e-02 3.37867390e+01] [-1.60066771e-01 9.87072376e-01 -8.17026757e-03 -1.71087968e+00] [-7.92269659e-02 -4.59652819e-03 9.96846006e-01 -3.96219622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.096296757 meters 0.07678431901118413 Centerline is valid? [True, True] Translation: X:33.82, Y:-1.71, Z:-3.97 [[ 9.83241563e-01 1.63549330e-01 8.05459173e-02 3.38167691e+01] [-1.63409552e-01 9.86522822e-01 -8.36893698e-03 -1.70849132e+00] [-8.08291197e-02 -4.93328557e-03 9.96715765e-01 -3.96637135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.126296757 meters 0.07688645530736245 Centerline is valid? [True, True] Translation: X:33.85, Y:-1.71, Z:-3.97 [[ 9.83171006e-01 1.63000994e-01 8.24951481e-02 3.38473388e+01] [-1.62852562e-01 9.86613193e-01 -8.57036997e-03 -1.71192564e+00] [-8.27877803e-02 -5.00840699e-03 9.96554614e-01 -3.96932605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.156296757 meters 0.07701295105780459 Centerline is valid? [True, True] Translation: X:33.88, Y:-1.72, Z:-3.97 [[ 9.83100862e-01 1.62945358e-01 8.34356343e-02 3.38788386e+01] [-1.62793625e-01 9.86622096e-01 -8.66460949e-03 -1.71662467e+00] [-8.37312983e-02 -5.06460434e-03 9.96475499e-01 -3.97125775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.186296757 meters 0.07540419601903045 Centerline is valid? [True, True] Translation: X:33.91, Y:-1.72, Z:-3.97 [[ 9.83252954e-01 1.60975598e-01 8.54428757e-02 3.39096000e+01] [-1.60806790e-01 9.86945777e-01 -8.89991846e-03 -1.72245322e+00] [-8.57601551e-02 -4.98892350e-03 9.96303321e-01 -3.97293600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.216296757 meters 0.07406019597877597 Centerline is valid? [True, True] Translation: X:33.94, Y:-1.73, Z:-3.98 [[ 9.83333116e-01 1.60699998e-01 8.50381934e-02 3.39408742e+01] [-1.60532136e-01 9.86990908e-01 -8.85332480e-03 -1.72893195e+00] [-8.53546529e-02 -4.94559540e-03 9.96338358e-01 -3.97575322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.246296757 meters 0.07410911061953918 Centerline is valid? [True, True] Translation: X:33.97, Y:-1.73, Z:-3.98 [[ 9.83739268e-01 1.58277349e-01 8.48842356e-02 3.39705159e+01] [-1.58098762e-01 9.87383510e-01 -8.86482321e-03 -1.73330594e+00] [-8.52163952e-02 -4.69941787e-03 9.96351385e-01 -3.98057609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.276296757 meters 0.0739745577733398 Centerline is valid? [True, True] Translation: X:34.00, Y:-1.74, Z:-3.99 [[ 9.84057432e-01 1.56686216e-01 8.41451105e-02 3.40013231e+01] [-1.56505342e-01 9.87638062e-01 -8.78275065e-03 -1.73749267e+00] [-8.44810498e-02 -4.52642822e-03 9.96414805e-01 -3.98501873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.306296757 meters 0.07382938745880495 Centerline is valid? [True, True] Translation: X:34.03, Y:-1.74, Z:-3.99 [[ 9.84176555e-01 1.55201331e-01 8.54930114e-02 3.40327859e+01] [-1.55006934e-01 9.87872858e-01 -8.94801400e-03 -1.74037634e+00] [-8.58449692e-02 -4.44558393e-03 9.96298589e-01 -3.98871658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.336296757 meters 0.07323471145133299 Centerline is valid? [True, True] Translation: X:34.06, Y:-1.75, Z:-3.99 [[ 9.84543351e-01 1.53228868e-01 8.48251367e-02 3.40639561e+01] [-1.53029834e-01 9.88181650e-01 -8.88239734e-03 -1.74570276e+00] [-8.51836832e-02 -4.23567134e-03 9.96356261e-01 -3.99141204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.366296757 meters 0.07286902377736115 Centerline is valid? [True, True] Translation: X:34.10, Y:-1.75, Z:-3.99 [[ 9.84793320e-01 1.53019304e-01 8.22630475e-02 3.40957744e+01] [-1.52831546e-01 9.88214730e-01 -8.61194827e-03 -1.75020972e+00] [-8.26113496e-02 -4.09139959e-03 9.96573442e-01 -3.99487935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.396296757 meters 0.07409210814220575 Centerline is valid? [True, True] Translation: X:34.13, Y:-1.75, Z:-4.00 [[ 9.84985859e-01 1.53179278e-01 7.96176285e-02 3.41263694e+01] [-1.53001936e-01 9.88190531e-01 -8.35956365e-03 -1.75100807e+00] [-7.99578985e-02 -3.94759934e-03 9.96790425e-01 -4.00155663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.426296757 meters 0.07351756569811034 Centerline is valid? [True, True] Translation: X:34.16, Y:-1.76, Z:-4.00 [[ 9.84979969e-01 1.52419426e-01 8.11343236e-02 3.41574118e+01] [-1.52232138e-01 9.88307992e-01 -8.52574126e-03 -1.75529091e+00] [-8.14851890e-02 -3.95356717e-03 9.96666711e-01 -4.00368118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.456296757 meters 0.07334454223477214 Centerline is valid? [True, True] Translation: X:34.19, Y:-1.76, Z:-4.01 [[ 9.84693826e-01 1.52986456e-01 8.35057738e-02 3.41898823e+01] [-1.52790386e-01 9.88219691e-01 -8.77158674e-03 -1.75655058e+00] [-8.38639839e-02 -4.12155213e-03 9.96468687e-01 -4.00501840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.486296757 meters 0.07375603362203666 Centerline is valid? [True, True] Translation: X:34.22, Y:-1.76, Z:-4.01 [[ 9.84598526e-01 1.53321481e-01 8.40134896e-02 3.42206274e+01] [-1.53122494e-01 9.88167627e-01 -8.84550108e-03 -1.75722546e+00] [-8.43756159e-02 -4.15508775e-03 9.96425356e-01 -4.00938480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.516296757 meters 0.07416034073519792 Centerline is valid? [True, True] Translation: X:34.25, Y:-1.76, Z:-4.01 [[ 9.84458568e-01 1.54240008e-01 8.39723042e-02 3.42513623e+01] [-1.54042988e-01 9.88024426e-01 -8.85954373e-03 -1.75818357e+00] [-8.43331838e-02 -4.21349088e-03 9.96428703e-01 -4.01340051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.546296757 meters 0.07335301968099538 Centerline is valid? [True, True] Translation: X:34.28, Y:-1.76, Z:-4.02 [[ 9.84561306e-01 1.55780107e-01 7.98222637e-02 3.42821287e+01] [-1.55605252e-01 9.87783222e-01 -8.44459557e-03 -1.76295395e+00] [-8.01625928e-02 -4.10654139e-03 9.96773342e-01 -4.01661103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.576296757 meters 0.07555951073620643 Centerline is valid? [True, True] Translation: X:34.31, Y:-1.76, Z:-4.02 [[ 9.84410050e-01 1.57129174e-01 7.90397162e-02 3.43133211e+01] [-1.56962532e-01 9.87569210e-01 -8.35579990e-03 -1.76059938e+00] [-7.93701300e-02 -4.18074062e-03 9.96836448e-01 -4.02393379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.606296757 meters 0.0744688127938289 Centerline is valid? [True, True] Translation: X:34.34, Y:-1.77, Z:-4.02 [[ 9.84060658e-01 1.59705252e-01 7.82231058e-02 3.43441571e+01] [-1.59548241e-01 9.87155296e-01 -8.29344683e-03 -1.76714064e+00] [-7.85428601e-02 -4.31910417e-03 9.96901382e-01 -4.02479765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.636296757 meters 0.07431200643400586 Centerline is valid? [True, True] Translation: X:34.38, Y:-1.77, Z:-4.03 [[ 9.83865766e-01 1.61273452e-01 7.74533948e-02 3.43755666e+01] [-1.61124180e-01 9.86899959e-01 -8.21395515e-03 -1.77001563e+00] [-7.77634451e-02 -4.39818547e-03 9.96962137e-01 -4.02776515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.666296757 meters 0.07443097634497395 Centerline is valid? [True, True] Translation: X:34.41, Y:-1.77, Z:-4.03 [[ 9.83369906e-01 1.63984710e-01 7.80553872e-02 3.44062087e+01] [-1.63841221e-01 9.86451951e-01 -8.28271964e-03 -1.76914055e+00] [-7.83561283e-02 -4.64371269e-03 9.96914617e-01 -4.03272446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.696296757 meters 0.07720847858132669 Centerline is valid? [True, True] Translation: X:34.44, Y:-1.76, Z:-4.04 [[ 9.83057785e-01 1.65416207e-01 7.89611960e-02 3.44371960e+01] [-1.65274464e-01 9.86212072e-01 -8.37262036e-03 -1.76415861e+00] [-7.92574518e-02 -4.81949970e-03 9.96842530e-01 -4.03995334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.726296757 meters 0.0770590041734933 Centerline is valid? [True, True] Translation: X:34.47, Y:-1.77, Z:-4.04 [[ 9.82971576e-01 1.65238080e-01 8.03943866e-02 3.44687746e+01] [-1.65089048e-01 9.86241663e-01 -8.54334887e-03 -1.76805610e+00] [-8.06999801e-02 -4.87436363e-03 9.96726519e-01 -4.04353627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.756296757 meters 0.07557643320162105 Centerline is valid? [True, True] Translation: X:34.50, Y:-1.78, Z:-4.04 [[ 9.83026546e-01 1.65064354e-01 8.00785229e-02 3.45001658e+01] [-1.64914415e-01 9.86271009e-01 -8.52836697e-03 -1.77708678e+00] [-8.03868549e-02 -4.82249161e-03 9.96752074e-01 -4.04477225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.786296757 meters 0.07537469411211407 Centerline is valid? [True, True] Translation: X:34.53, Y:-1.79, Z:-4.05 [[ 9.83492158e-01 1.62747553e-01 7.90974650e-02 3.45306054e+01] [-1.62591691e-01 9.86657252e-01 -8.45033197e-03 -1.78811181e+00] [-7.94173583e-02 -4.54975540e-03 9.96831070e-01 -4.04785450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.816296757 meters 0.07556634114106783 Centerline is valid? [True, True] Translation: X:34.56, Y:-1.79, Z:-4.05 [[ 9.84105386e-01 1.59618464e-01 7.78365968e-02 3.45602370e+01] [-1.59457566e-01 9.87169738e-01 -8.31828405e-03 -1.79437993e+00] [-7.81656845e-02 -4.22556616e-03 9.96931427e-01 -4.05335841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.846296757 meters 0.07332784120803659 Centerline is valid? [True, True] Translation: X:34.59, Y:-1.80, Z:-4.05 [[ 9.84237256e-01 1.58837361e-01 7.77670612e-02 3.45913489e+01] [-1.58674750e-01 9.87295976e-01 -8.30540858e-03 -1.80413575e+00] [-7.80983157e-02 -4.16517642e-03 9.96936961e-01 -4.05372348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.876296757 meters 0.07349963291620047 Centerline is valid? [True, True] Translation: X:34.62, Y:-1.81, Z:-4.06 [[ 9.84325273e-01 1.57546134e-01 7.92652003e-02 3.46224805e+01] [-1.57370830e-01 9.87503058e-01 -8.49306005e-03 -1.80639152e+00] [-7.96126764e-02 -4.11409668e-03 9.96817383e-01 -4.05899709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.906296757 meters 0.07599151928249787 Centerline is valid? [True, True] Translation: X:34.65, Y:-1.80, Z:-4.07 [[ 9.84392638e-01 1.56853658e-01 7.98001544e-02 3.46537384e+01] [-1.56673917e-01 9.87613395e-01 -8.54788868e-03 -1.80206527e+00] [-8.01524690e-02 -4.08812410e-03 9.96774232e-01 -4.06850316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.936296757 meters 0.07343625925412968 Centerline is valid? [True, True] Translation: X:34.68, Y:-1.82, Z:-4.06 [[ 9.84409619e-01 1.55663045e-01 8.18945551e-02 3.46848596e+01] [-1.55467386e-01 9.87801831e-01 -8.79973829e-03 -1.81626038e+00] [-8.22653855e-02 -4.06938542e-03 9.96602151e-01 -4.06378579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.966296757 meters 0.07330738567485809 Centerline is valid? [True, True] Translation: X:34.72, Y:-1.82, Z:-4.07 [[ 9.84472502e-01 1.54230449e-01 8.38263764e-02 3.47159226e+01] [-1.54019896e-01 9.88026647e-01 -9.01197462e-03 -1.82233586e+00] [-8.42126145e-02 -4.03888853e-03 9.96439623e-01 -4.06564145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.996296757 meters 0.0727927461338136 Centerline is valid? [True, True] Translation: X:34.75, Y:-1.83, Z:-4.07 [[ 9.84885922e-01 1.51435128e-01 8.40661779e-02 3.47471947e+01] [-1.51212838e-01 9.88459870e-01 -9.04230146e-03 -1.82953009e+00] [-8.44653654e-02 -3.80624993e-03 9.96419146e-01 -4.06678641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.026296757 meters 0.07279731716926309 Centerline is valid? [True, True] Translation: X:34.78, Y:-1.83, Z:-4.07 [[ 9.84924639e-01 1.50634886e-01 8.50446126e-02 3.47790182e+01] [-1.50404523e-01 9.88582229e-01 -9.14638716e-03 -1.83189780e+00] [-8.54513577e-02 -3.78259231e-03 9.96335163e-01 -4.07134343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.056296757 meters 0.07329152500122474 Centerline is valid? [True, True] Translation: X:34.81, Y:-1.83, Z:-4.08 [[ 9.85119622e-01 1.49939073e-01 8.40095483e-02 3.48095300e+01] [-1.49709982e-01 9.88688480e-01 -9.05602492e-03 -1.83104514e+00] [-8.44171246e-02 -3.65580014e-03 9.96423797e-01 -4.07840459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.086296757 meters 0.07337124394161684 Centerline is valid? [True, True] Translation: X:34.84, Y:-1.83, Z:-4.08 [[ 9.85097734e-01 1.50001021e-01 8.41554977e-02 3.48409333e+01] [-1.49769769e-01 9.88679108e-01 -9.09050102e-03 -1.83382998e+00] [-8.45663668e-02 -3.64891750e-03 9.96411168e-01 -4.08373787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.116296757 meters 0.07414581780936487 Centerline is valid? [True, True] Translation: X:34.87, Y:-1.83, Z:-4.09 [[ 9.84884931e-01 1.51208891e-01 8.44839821e-02 3.48719857e+01] [-1.50978444e-01 9.88494733e-01 -9.14727289e-03 -1.83476023e+00] [-8.48951203e-02 -3.74624893e-03 9.96382850e-01 -4.08959658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.146296757 meters 0.07405799027378052 Centerline is valid? [True, True] Translation: X:34.90, Y:-1.84, Z:-4.09 [[ 9.84627327e-01 1.52357903e-01 8.54171949e-02 3.49048334e+01] [-1.52125097e-01 9.88317808e-01 -9.26630196e-03 -1.83903190e+00] [-8.58311292e-02 -3.87024495e-03 9.96302182e-01 -4.09166010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.176296757 meters 0.07423476328534374 Centerline is valid? [True, True] Translation: X:34.94, Y:-1.84, Z:-4.09 [[ 9.84308769e-01 1.53888253e-01 8.63403295e-02 3.49367266e+01] [-1.53654071e-01 9.88080071e-01 -9.39150756e-03 -1.84307909e+00] [-8.67564016e-02 -4.02239988e-03 9.96221435e-01 -4.09406205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.206296757 meters 0.07469201090574788 Centerline is valid? [True, True] Translation: X:34.97, Y:-1.84, Z:-4.10 [[ 9.83689553e-01 1.56817765e-01 8.81081878e-02 3.49684411e+01] [-1.56583619e-01 9.87617990e-01 -9.60608857e-03 -1.84153220e+00] [-8.85236367e-02 -4.34688996e-03 9.96064591e-01 -4.09686663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.236296757 meters 0.07529502315468202 Centerline is valid? [True, True] Translation: X:35.00, Y:-1.84, Z:-4.10 [[ 9.83523426e-01 1.58406430e-01 8.71152832e-02 3.49995875e+01] [-1.58182052e-01 9.87364100e-01 -9.51690770e-03 -1.84077084e+00] [-8.75220426e-02 -4.41997262e-03 9.96152777e-01 -4.10158734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.266296757 meters 0.07670770302117824 Centerline is valid? [True, True] Translation: X:35.03, Y:-1.84, Z:-4.11 [[ 9.83126587e-01 1.61881990e-01 8.51841219e-02 3.50294735e+01] [-1.61678299e-01 9.86799406e-01 -9.33057301e-03 -1.83657644e+00] [-8.55700926e-02 -4.59928956e-03 9.96321537e-01 -4.10910160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.296296757 meters 0.07718566422754347 Centerline is valid? [True, True] Translation: X:35.06, Y:-1.84, Z:-4.11 [[ 9.83059164e-01 1.63064852e-01 8.36930976e-02 3.50606329e+01] [-1.62872581e-01 9.86604533e-01 -9.16608893e-03 -1.83893108e+00] [-8.40666565e-02 -4.62050312e-03 9.96449421e-01 -4.11409066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.326296757 meters 0.07551959029628993 Centerline is valid? [True, True] Translation: X:35.09, Y:-1.85, Z:-4.11 [[ 9.82881261e-01 1.64112804e-01 8.37341874e-02 3.50914066e+01] [-1.63924218e-01 9.86430317e-01 -9.16953828e-03 -1.84940929e+00] [-8.41027797e-02 -4.71349381e-03 9.96445937e-01 -4.11461034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.356296757 meters 0.07603980317574036 Centerline is valid? [True, True] Translation: X:35.12, Y:-1.86, Z:-4.12 [[ 9.82912396e-01 1.64236071e-01 8.31248143e-02 3.51221649e+01] [-1.64049068e-01 9.86410005e-01 -9.12171500e-03 -1.85618885e+00] [-8.34932631e-02 -4.67070160e-03 9.96497396e-01 -4.11765760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.386296757 meters 0.0754011971359198 Centerline is valid? [True, True] Translation: X:35.15, Y:-1.86, Z:-4.12 [[ 9.82947505e-01 1.63385627e-01 8.43761743e-02 3.51529756e+01] [-1.63187669e-01 9.86551357e-01 -9.28461108e-03 -1.86049801e+00] [-8.47584013e-02 -4.64286594e-03 9.96390715e-01 -4.12087713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.416296757 meters 0.0746495966792503 Centerline is valid? [True, True] Translation: X:35.18, Y:-1.86, Z:-4.12 [[ 9.82892157e-01 1.62172687e-01 8.73099549e-02 3.51848198e+01] [-1.61955746e-01 9.86751225e-01 -9.61018677e-03 -1.86139381e+00] [-8.77117148e-02 -4.69457166e-03 9.96134838e-01 -4.12474888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.446296757 meters 0.07325262283579476 Centerline is valid? [True, True] Translation: X:35.22, Y:-1.87, Z:-4.13 [[ 9.82801789e-01 1.62118970e-01 8.84199285e-02 3.52161843e+01] [-1.61896332e-01 9.86759784e-01 -9.73169055e-03 -1.86808930e+00] [-8.88269212e-02 -4.75053919e-03 9.96035748e-01 -4.12671795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.476296757 meters 0.07378411547350824 Centerline is valid? [True, True] Translation: X:35.25, Y:-1.87, Z:-4.13 [[ 9.82986077e-01 1.62107892e-01 8.63678355e-02 3.52468730e+01] [-1.61893500e-01 9.86762239e-01 -9.52773613e-03 -1.87126349e+00] [-8.67690400e-02 -4.61675919e-03 9.96217757e-01 -4.13055539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.506296757 meters 0.07541649204789896 Centerline is valid? [True, True] Translation: X:35.28, Y:-1.87, Z:-4.14 [[ 9.83120356e-01 1.62456989e-01 8.41551630e-02 3.52772607e+01] [-1.62253072e-01 9.86705325e-01 -9.30278699e-03 -1.87344887e+00] [-8.45476502e-02 -4.50867449e-03 9.96409237e-01 -4.13619060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.536296757 meters 0.07560670114826698 Centerline is valid? [True, True] Translation: X:35.31, Y:-1.88, Z:-4.14 [[ 9.83155159e-01 1.62489666e-01 8.36841742e-02 3.53097281e+01] [-1.62286621e-01 9.86700128e-01 -9.26872622e-03 -1.87681116e+00] [-8.40772577e-02 -4.46822583e-03 9.96449221e-01 -4.13985328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.566296757 meters 0.07468261583437628 Centerline is valid? [True, True] Translation: X:35.34, Y:-1.88, Z:-4.14 [[ 9.82930791e-01 1.62797534e-01 8.56972743e-02 3.53415781e+01] [-1.62583617e-01 9.86648873e-01 -9.51675953e-03 -1.87974555e+00] [-8.61024241e-02 -4.57865687e-03 9.96275769e-01 -4.14235931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.596296757 meters 0.07520221486779557 Centerline is valid? [True, True] Translation: X:35.37, Y:-1.88, Z:-4.15 [[ 9.82767906e-01 1.63187193e-01 8.68169487e-02 3.53728483e+01] [-1.62967233e-01 9.86584159e-01 -9.66325170e-03 -1.87896646e+00] [-8.72291452e-02 -4.65158424e-03 9.96177413e-01 -4.14651159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.626296757 meters 0.07392001298764188 Centerline is valid? [True, True] Translation: X:35.40, Y:-1.88, Z:-4.15 [[ 9.82472060e-01 1.64056456e-01 8.85106230e-02 3.54044849e+01] [-1.63829583e-01 9.86439263e-01 -9.87160344e-03 -1.88382066e+00] [-8.89298540e-02 -4.80208389e-03 9.96026315e-01 -4.14847249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.656296757 meters 0.07462675505395107 Centerline is valid? [True, True] Translation: X:35.44, Y:-1.88, Z:-4.15 [[ 9.82409741e-01 1.63794518e-01 8.96797465e-02 3.54360027e+01] [-1.63558397e-01 9.86482710e-01 -1.00256418e-02 -1.88327484e+00] [-9.01096645e-02 -4.81858743e-03 9.95920192e-01 -4.15137487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.686296757 meters 0.07376847446577739 Centerline is valid? [True, True] Translation: X:35.47, Y:-1.89, Z:-4.15 [[ 9.82502333e-01 1.63632567e-01 8.89581249e-02 3.54682359e+01] [-1.63397833e-01 9.86509940e-01 -9.96425289e-03 -1.89186839e+00] [-8.93885508e-02 -4.74566313e-03 9.95985525e-01 -4.15311153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.716296757 meters 0.07364306054263298 Centerline is valid? [True, True] Translation: X:35.50, Y:-1.90, Z:-4.16 [[ 9.82605744e-01 1.64057271e-01 8.70124288e-02 3.54997879e+01] [-1.63832114e-01 9.86439838e-01 -9.77161817e-03 -1.89789455e+00] [-8.74356312e-02 -4.65378198e-03 9.96159301e-01 -4.15581130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.746296757 meters 0.07389366139978934 Centerline is valid? [True, True] Translation: X:35.53, Y:-1.90, Z:-4.16 [[ 9.82533269e-01 1.64598080e-01 8.68092564e-02 3.55316076e+01] [-1.64374137e-01 9.86349671e-01 -9.77088924e-03 -1.89945204e+00] [-8.72325510e-02 -4.66897286e-03 9.96177034e-01 -4.16119078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.776296757 meters 0.07514367754735779 Centerline is valid? [True, True] Translation: X:35.56, Y:-1.90, Z:-4.17 [[ 9.82299494e-01 1.66234756e-01 8.63348698e-02 3.55626958e+01] [-1.66017601e-01 9.86074690e-01 -9.73974943e-03 -1.89695159e+00] [-8.67517148e-02 -4.76575698e-03 9.96218564e-01 -4.16724418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.806296757 meters 0.07514399103878357 Centerline is valid? [True, True] Translation: X:35.59, Y:-1.90, Z:-4.17 [[ 9.81435342e-01 1.70769909e-01 8.73058304e-02 3.55935321e+01] [-1.70563384e-01 9.85297218e-01 -9.87542845e-03 -1.89612404e+00] [-8.77086178e-02 -5.19908341e-03 9.96132606e-01 -4.17012739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.836296757 meters 0.07731438587894023 Centerline is valid? [True, True] Translation: X:35.63, Y:-1.89, Z:-4.18 [[ 9.80887517e-01 1.73091007e-01 8.88773487e-02 3.56251189e+01] [-1.72886620e-01 9.84890443e-01 -1.00515121e-02 -1.89181179e+00] [-8.92742777e-02 -5.50630169e-03 9.95991859e-01 -4.17530785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.866296757 meters 0.07608578353876809 Centerline is valid? [True, True] Translation: X:35.66, Y:-1.90, Z:-4.18 [[ 9.80026869e-01 1.78379211e-01 8.79101379e-02 3.56559191e+01] [-1.78198122e-01 9.83944145e-01 -9.96735983e-03 -1.89693358e+00] [-8.82766353e-02 -5.89714105e-03 9.96078541e-01 -4.17627152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.896296757 meters 0.07793204138134674 Centerline is valid? [True, True] Translation: X:35.69, Y:-1.90, Z:-4.18 [[ 9.79762346e-01 1.80264625e-01 8.70081042e-02 3.56856714e+01] [-1.80094284e-01 9.83599846e-01 -9.86871805e-03 -1.89515819e+00] [-8.73601386e-02 -6.00066391e-03 9.96158721e-01 -4.18125499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.926296757 meters 0.07920626278229428 Centerline is valid? [True, True] Translation: X:35.72, Y:-1.90, Z:-4.19 [[ 9.79459776e-01 1.82768631e-01 8.51714494e-02 3.57156683e+01] [-1.82614950e-01 9.83137069e-01 -9.65837016e-03 -1.89571063e+00] [-8.55004562e-02 -6.09359495e-03 9.96319497e-01 -4.18591649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.956296757 meters 0.07920626278229428 Centerline is valid? [True, True] Translation: X:35.75, Y:-1.90, Z:-4.19 [[ 9.79409801e-01 1.83036239e-01 8.51714567e-02 3.57477427e+01] [-1.82883568e-01 9.83087136e-01 -9.65831594e-03 -1.89944954e+00] [-8.54987853e-02 -6.11701058e-03 9.96319497e-01 -4.18967970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.986296757 meters 0.07937109961570589 Centerline is valid? [True, True] Translation: X:35.78, Y:-1.90, Z:-4.19 [[ 9.78975072e-01 1.85357125e-01 8.51501305e-02 3.57782056e+01] [-1.85210544e-01 9.82651113e-01 -9.68735595e-03 -1.90000469e+00] [-8.54684909e-02 -6.28702196e-03 9.96321038e-01 -4.19380122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.016296757 meters 0.0806227753851949 Centerline is valid? [True, True] Translation: X:35.81, Y:-1.90, Z:-4.20 [[ 9.78811896e-01 1.86553043e-01 8.44111061e-02 3.58091971e+01] [-1.86413807e-01 9.82424431e-01 -9.59844425e-03 -1.89977374e+00] [-8.47181518e-02 -6.34032423e-03 9.96384783e-01 -4.19851923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.046296757 meters 0.08151248638824339 Centerline is valid? [True, True] Translation: X:35.84, Y:-1.90, Z:-4.20 [[ 9.78605608e-01 1.87734001e-01 8.41843756e-02 3.58404314e+01] [-1.87598239e-01 9.82199014e-01 -9.59158179e-03 -1.89906874e+00] [-8.44864767e-02 -6.40646491e-03 9.96404031e-01 -4.20294001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.076296757 meters 0.08177534463080825 Centerline is valid? [True, True] Translation: X:35.87, Y:-1.90, Z:-4.21 [[ 9.78540123e-01 1.87822907e-01 8.47453977e-02 3.58720810e+01] [-1.87684085e-01 9.82181804e-01 -9.67409365e-03 -1.90039334e+00] [-8.50524040e-02 -6.43887359e-03 9.96355674e-01 -4.20738494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.106296757 meters 0.07784838908553555 Centerline is valid? [True, True] Translation: X:35.90, Y:-1.91, Z:-4.21 [[ 9.78608177e-01 1.86745578e-01 8.63256914e-02 3.59030792e+01] [-1.86595104e-01 9.82387213e-01 -9.88087192e-03 -1.91125737e+00] [-8.66504645e-02 -6.43844933e-03 9.96217970e-01 -4.20549221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.136296757 meters 0.07740069536670063 Centerline is valid? [True, True] Translation: X:35.93, Y:-1.92, Z:-4.21 [[ 9.78716793e-01 1.86056365e-01 8.65821449e-02 3.59348972e+01] [-1.85902402e-01 9.82518245e-01 -9.90933295e-03 -1.91750627e+00] [-8.69122316e-02 -6.39739811e-03 9.96195431e-01 -4.20716357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.166296757 meters 0.07549540476895174 Centerline is valid? [True, True] Translation: X:35.97, Y:-1.93, Z:-4.21 [[ 9.79125651e-01 1.83939251e-01 8.64830082e-02 3.59654431e+01] [-1.83774983e-01 9.82918220e-01 -9.92613317e-03 -1.92721565e+00] [-8.68315300e-02 -6.17448175e-03 9.96203875e-01 -4.20908547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.196296757 meters 0.07581518353001387 Centerline is valid? [True, True] Translation: X:35.99, Y:-1.93, Z:-4.21 [[ 9.80040801e-01 1.78344997e-01 8.78242021e-02 3.59947194e+01] [-1.78152906e-01 9.83951141e-01 -1.00843103e-02 -1.93217200e+00] [-8.82132101e-02 -5.76310126e-03 9.96084944e-01 -4.21431656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.226296757 meters 0.07428162903003288 Centerline is valid? [True, True] Translation: X:36.03, Y:-1.94, Z:-4.22 [[ 9.80524902e-01 1.75712377e-01 8.77272910e-02 3.60255269e+01] [-1.75510310e-01 9.84426066e-01 -1.00722858e-02 -1.94052263e+00] [-8.81308573e-02 -5.52091702e-03 9.96093606e-01 -4.21735340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.256296757 meters 0.07515906462450227 Centerline is valid? [True, True] Translation: X:36.05, Y:-1.94, Z:-4.23 [[ 9.81226377e-01 1.71303033e-01 8.86006137e-02 3.60549273e+01] [-1.71078635e-01 9.85204814e-01 -1.01771728e-02 -1.94318612e+00] [-8.90331317e-02 -5.17156158e-03 9.96015239e-01 -4.22509319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.286296757 meters 0.07472941841946529 Centerline is valid? [True, True] Translation: X:36.09, Y:-1.95, Z:-4.23 [[ 9.81520344e-01 1.69922737e-01 8.80004477e-02 3.60867849e+01] [-1.69695972e-01 9.85444636e-01 -1.01067740e-02 -1.94790177e+00] [-8.84369398e-02 -5.01331724e-03 9.96069161e-01 -4.22971239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.316296757 meters 0.07367026622400581 Centerline is valid? [True, True] Translation: X:36.12, Y:-1.95, Z:-4.23 [[ 9.81720980e-01 1.68543220e-01 8.84143687e-02 3.61173468e+01] [-1.68307954e-01 9.85682069e-01 -1.01632805e-02 -1.95388018e+00] [-8.88614099e-02 -4.90333576e-03 9.96031931e-01 -4.23294718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.346296757 meters 0.0736220418921659 Centerline is valid? [True, True] Translation: X:36.15, Y:-1.96, Z:-4.24 [[ 9.82238153e-01 1.65208065e-01 8.89635034e-02 3.61463304e+01] [-1.64956079e-01 9.86247876e-01 -1.02283448e-02 -1.96084511e+00] [-8.94298713e-02 -4.62840016e-03 9.95982367e-01 -4.23626910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.376296757 meters 0.07357338316752163 Centerline is valid? [True, True] Translation: X:36.18, Y:-1.97, Z:-4.24 [[ 9.82447156e-01 1.64173978e-01 8.85691240e-02 3.61776152e+01] [-1.63919765e-01 9.86421084e-01 -1.01860115e-02 -1.96931858e+00] [-8.90387294e-02 -4.51101197e-03 9.96017949e-01 -4.23968748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.406296757 meters 0.07366810246745245 Centerline is valid? [True, True] Translation: X:36.21, Y:-1.98, Z:-4.24 [[ 9.82712617e-01 1.63123859e-01 8.75586557e-02 3.62082464e+01] [-1.62869425e-01 9.86596033e-01 -1.00905298e-02 -1.97807261e+00] [-8.80310285e-02 -4.34453700e-03 9.96108259e-01 -4.24318024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.436296757 meters 0.07423754463404063 Centerline is valid? [True, True] Translation: X:36.24, Y:-1.98, Z:-4.25 [[ 9.82494490e-01 1.64268685e-01 8.78656701e-02 3.62401659e+01] [-1.64015162e-01 9.86405630e-01 -1.01468849e-02 -1.98085907e+00] [-8.83380071e-02 -4.44204368e-03 9.96080652e-01 -4.24719682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.466296757 meters 0.07477812935459245 Centerline is valid? [True, True] Translation: X:36.27, Y:-1.98, Z:-4.25 [[ 9.82282774e-01 1.65580267e-01 8.77708757e-02 3.62721757e+01] [-1.65330674e-01 9.86185892e-01 -1.01565553e-02 -1.98319662e+00] [-8.82401244e-02 -4.53460875e-03 9.96088911e-01 -4.25216390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.496296757 meters 0.07369784435488036 Centerline is valid? [True, True] Translation: X:36.30, Y:-1.99, Z:-4.26 [[ 9.81726694e-01 1.69427162e-01 8.66437243e-02 3.63022510e+01] [-1.69196572e-01 9.85531064e-01 -1.00519726e-02 -1.99046442e+00] [-8.70931590e-02 -4.79153127e-03 9.96188648e-01 -4.25500021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.526296757 meters 0.07598601326470832 Centerline is valid? [True, True] Translation: X:36.33, Y:-1.99, Z:-4.26 [[ 9.81542637e-01 1.70510443e-01 8.66039288e-02 3.63333947e+01] [-1.70284564e-01 9.85343741e-01 -1.00438610e-02 -1.98805535e+00] [-8.70472224e-02 -4.88883450e-03 9.96192190e-01 -4.26303356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.556296757 meters 0.0743280289470104 Centerline is valid? [True, True] Translation: X:36.36, Y:-2.00, Z:-4.26 [[ 9.81487435e-01 1.71643925e-01 8.49751588e-02 3.63642889e+01] [-1.71429057e-01 9.85146987e-01 -9.87382237e-03 -1.99844187e+00] [-8.54078033e-02 -4.87617876e-03 9.96334146e-01 -4.26398242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.586296757 meters 0.07511894553786413 Centerline is valid? [True, True] Translation: X:36.39, Y:-2.01, Z:-4.27 [[ 9.81173745e-01 1.73229152e-01 8.53799915e-02 3.63949444e+01] [-1.73016486e-01 9.84868761e-01 -9.94081304e-03 -2.00734110e+00] [-8.58101250e-02 -5.01848135e-03 9.96298869e-01 -4.26713632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.616296757 meters 0.07542393669961608 Centerline is valid? [True, True] Translation: X:36.43, Y:-2.01, Z:-4.27 [[ 9.81104964e-01 1.73993183e-01 8.46133707e-02 3.64264296e+01] [-1.73785542e-01 9.84734057e-01 -9.87025702e-03 -2.01388108e+00] [-8.50390253e-02 -5.02082231e-03 9.96364971e-01 -4.27021742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.646296757 meters 0.07652547580453573 Centerline is valid? [True, True] Translation: X:36.46, Y:-2.02, Z:-4.28 [[ 9.80785353e-01 1.75571750e-01 8.50567553e-02 3.64571905e+01] [-1.75365710e-01 9.84453112e-01 -9.94672488e-03 -2.01806257e+00] [-8.54807514e-02 -5.16043620e-03 9.96326458e-01 -4.27524113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.676296757 meters 0.07537935184136926 Centerline is valid? [True, True] Translation: X:36.49, Y:-2.03, Z:-4.28 [[ 9.80577490e-01 1.76631828e-01 8.52583360e-02 3.64885629e+01] [-1.76428277e-01 9.84262940e-01 -9.97634029e-03 -2.02616795e+00] [-8.56787597e-02 -5.25940658e-03 9.96308932e-01 -4.27836063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.706296757 meters 0.0780929903525503 Centerline is valid? [True, True] Translation: X:36.52, Y:-2.03, Z:-4.29 [[ 9.80409044e-01 1.77670053e-01 8.50379829e-02 3.65187566e+01] [-1.77469063e-01 9.84075794e-01 -9.97817788e-03 -2.02626694e+00] [-8.54566439e-02 -5.30891530e-03 9.96327746e-01 -4.28675294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.736296757 meters 0.07757793469352964 Centerline is valid? [True, True] Translation: X:36.55, Y:-2.03, Z:-4.29 [[ 9.80368554e-01 1.77975475e-01 8.48659418e-02 3.65505695e+01] [-1.77776305e-01 9.84020525e-01 -9.95948673e-03 -2.03342605e+00] [-8.52823730e-02 -5.32318594e-03 9.96342602e-01 -4.29003206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.766296757 meters 0.07703315325312866 Centerline is valid? [True, True] Translation: X:36.58, Y:-2.04, Z:-4.29 [[ 9.80232853e-01 1.77982247e-01 8.64052905e-02 3.65817372e+01] [-1.77775555e-01 9.84018783e-01 -1.01432996e-02 -2.04155833e+00] [-8.68297561e-02 -5.41795295e-03 9.96208432e-01 -4.29252474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.796296757 meters 0.07706429632974462 Centerline is valid? [True, True] Translation: X:36.61, Y:-2.05, Z:-4.29 [[ 9.80516533e-01 1.75408365e-01 8.84264311e-02 3.66105731e+01] [-1.75178991e-01 9.84481579e-01 -1.04087402e-02 -2.05357507e+00] [-8.88799727e-02 -5.28451112e-03 9.96028325e-01 -4.29442051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.826296757 meters 0.07661965690424274 Centerline is valid? [True, True] Translation: X:36.64, Y:-2.06, Z:-4.30 [[ 9.80813046e-01 1.73724609e-01 8.84620252e-02 3.66405498e+01] [-1.73488002e-01 9.84780904e-01 -1.04155593e-02 -2.06141858e+00] [-8.89251521e-02 -5.13138360e-03 9.96025093e-01 -4.29709787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.856296757 meters 0.07768929204183099 Centerline is valid? [True, True] Translation: X:36.67, Y:-2.07, Z:-4.30 [[ 9.80935324e-01 1.72089759e-01 9.02829122e-02 3.66699230e+01] [-1.71836107e-01 9.85068159e-01 -1.06336245e-02 -2.06619716e+00] [-9.07647600e-02 -5.08296626e-03 9.95859389e-01 -4.30179004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.886296757 meters 0.0765590741361801 Centerline is valid? [True, True] Translation: X:36.70, Y:-2.07, Z:-4.30 [[ 9.80839223e-01 1.71455865e-01 9.25057086e-02 3.67008214e+01] [-1.71186702e-01 9.85178351e-01 -1.08963424e-02 -2.07443813e+00] [-9.30028632e-02 -5.14818720e-03 9.95652532e-01 -4.30379122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.916296757 meters 0.0749583083810561 Centerline is valid? [True, True] Translation: X:36.73, Y:-2.09, Z:-4.30 [[ 9.80577919e-01 1.72103385e-01 9.40604597e-02 3.67315042e+01] [-1.71828006e-01 9.85064650e-01 -1.10802381e-02 -2.08518919e+00] [-9.45625803e-02 -5.29718435e-03 9.95504826e-01 -4.30495167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.946296757 meters 0.07565776229644014 Centerline is valid? [True, True] Translation: X:36.76, Y:-2.09, Z:-4.31 [[ 9.80498414e-01 1.73554703e-01 9.22042616e-02 3.67616731e+01] [-1.73294317e-01 9.84809935e-01 -1.08844522e-02 -2.09168729e+00] [-9.26927208e-02 -5.30628641e-03 9.95680623e-01 -4.31067627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.976296757 meters 0.07674013204624215 Centerline is valid? [True, True] Translation: X:36.79, Y:-2.10, Z:-4.32 [[ 9.80392219e-01 1.74451794e-01 9.16387995e-02 3.67925672e+01] [-1.74196520e-01 9.84651253e-01 -1.08389045e-02 -2.09538054e+00] [-9.21231251e-02 -5.33678235e-03 9.95733322e-01 -4.31555348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.006296757 meters 0.07676167638284076 Centerline is valid? [True, True] Translation: X:36.82, Y:-2.10, Z:-4.32 [[ 9.80230619e-01 1.75669485e-01 9.10393652e-02 3.68236268e+01] [-1.75420888e-01 9.84434418e-01 -1.07883083e-02 -2.10262164e+00] [-9.15174611e-02 -5.39517624e-03 9.95788856e-01 -4.31956624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.036296757 meters 0.07609655960014837 Centerline is valid? [True, True] Translation: X:36.86, Y:-2.11, Z:-4.32 [[ 9.80191337e-01 1.76171148e-01 9.04912673e-02 3.68551578e+01] [-1.75925735e-01 9.84344804e-01 -1.07443755e-02 -2.10880783e+00] [-9.09674578e-02 -5.38819895e-03 9.95839289e-01 -4.32263782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.066296757 meters 0.07659477912592205 Centerline is valid? [True, True] Translation: X:36.89, Y:-2.11, Z:-4.33 [[ 9.79962715e-01 1.76994261e-01 9.13570415e-02 3.68868216e+01] [-1.76745565e-01 9.84196547e-01 -1.08702891e-02 -2.11189642e+00] [-9.18372635e-02 -5.49447388e-03 9.95758870e-01 -4.32685262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.096296757 meters 0.07644613656121775 Centerline is valid? [True, True] Translation: X:36.92, Y:-2.12, Z:-4.33 [[ 9.79967168e-01 1.76860665e-01 9.15677656e-02 3.69176675e+01] [-1.76608151e-01 9.84220686e-01 -1.09179902e-02 -2.11968567e+00] [-9.20538521e-02 -5.47234180e-03 9.95738993e-01 -4.32949561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.126296757 meters 0.07660594693590818 Centerline is valid? [True, True] Translation: X:36.95, Y:-2.13, Z:-4.33 [[ 9.79930827e-01 1.77542458e-01 9.06325027e-02 3.69494400e+01] [-1.77295943e-01 9.84098009e-01 -1.08285528e-02 -2.12563207e+00] [-9.11137934e-02 -5.45754237e-03 9.95825533e-01 -4.33340745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.156296757 meters 0.07794091495688814 Centerline is valid? [True, True] Translation: X:36.98, Y:-2.13, Z:-4.34 [[ 9.79944308e-01 1.79473852e-01 8.65926635e-02 3.69792409e+01] [-1.79253925e-01 9.83748157e-01 -1.03727906e-02 -2.12833114e+00] [-8.70470178e-02 -5.35731770e-03 9.96189799e-01 -4.33929898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.186296757 meters 0.0783475325250081 Centerline is valid? [True, True] Translation: X:37.01, Y:-2.13, Z:-4.34 [[ 9.79873819e-01 1.80394856e-01 8.54692594e-02 3.70104217e+01] [-1.80184307e-01 9.83579611e-01 -1.02354534e-02 -2.13065081e+00] [-8.59122440e-02 -5.37076646e-03 9.96288232e-01 -4.34420482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.216296757 meters 0.07929866598740148 Centerline is valid? [True, True] Translation: X:37.04, Y:-2.13, Z:-4.35 [[ 9.79587961e-01 1.82072167e-01 8.51889194e-02 3.70424134e+01] [-1.81868297e-01 9.83269854e-01 -1.02135190e-02 -2.13099694e+00] [-8.56232939e-02 -5.48812344e-03 9.96312467e-01 -4.34966526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.246296757 meters 0.08099400056143688 Centerline is valid? [True, True] Translation: X:37.07, Y:-2.13, Z:-4.35 [[ 9.78942774e-01 1.85432209e-01 8.53577262e-02 3.70723549e+01] [-1.85239545e-01 9.82640026e-01 -1.02415703e-02 -2.12809649e+00] [-8.57750353e-02 -5.78571515e-03 9.96297731e-01 -4.35469322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.276296757 meters 0.08258154987333484 Centerline is valid? [True, True] Translation: X:37.10, Y:-2.13, Z:-4.36 [[ 9.78324295e-01 1.87986157e-01 8.68491675e-02 3.71026659e+01] [-1.87796779e-01 9.82152635e-01 -1.04197670e-02 -2.12940529e+00] [-8.72579106e-02 -6.11608270e-03 9.96166979e-01 -4.35598345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.306296757 meters 0.07999354944164665 Centerline is valid? [True, True] Translation: X:37.13, Y:-2.14, Z:-4.36 [[ 9.78124571e-01 1.88691373e-01 8.75664813e-02 3.71337887e+01] [-1.88501738e-01 9.82016669e-01 -1.05050625e-02 -2.13978719e+00] [-8.79739590e-02 -6.23117422e-03 9.96103285e-01 -4.35610465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.336296757 meters 0.07971223343713452 Centerline is valid? [True, True] Translation: X:37.17, Y:-2.14, Z:-4.36 [[ 9.78248319e-01 1.88203369e-01 8.72336999e-02 3.71654980e+01] [-1.88011308e-01 9.82110874e-01 -1.04871019e-02 -2.14451446e+00] [-8.76468731e-02 -6.14193220e-03 9.96132673e-01 -4.35867845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.366296757 meters 0.07948059614709597 Centerline is valid? [True, True] Translation: X:37.20, Y:-2.15, Z:-4.36 [[ 9.78280914e-01 1.88090095e-01 8.71123949e-02 3.71971580e+01] [-1.87896204e-01 9.82132825e-01 -1.04943299e-02 -2.14881747e+00] [-8.75298219e-02 -6.10168565e-03 9.96143212e-01 -4.36173251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.396296757 meters 0.07972570627002641 Centerline is valid? [True, True] Translation: X:37.23, Y:-2.15, Z:-4.37 [[ 9.78673274e-01 1.85790527e-01 8.76384822e-02 3.72275606e+01] [-1.85582648e-01 9.82571637e-01 -1.05858081e-02 -2.14886009e+00] [-8.80778298e-02 -5.90413412e-03 9.96096098e-01 -4.36713225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.426296757 meters 0.0789900794381465 Centerline is valid? [True, True] Translation: X:37.26, Y:-2.15, Z:-4.37 [[ 9.78919332e-01 1.84252017e-01 8.81370224e-02 3.72591472e+01] [-1.84035433e-01 9.82861937e-01 -1.06476454e-02 -2.15214175e+00] [-8.85883747e-02 -5.79714915e-03 9.96051451e-01 -4.37025268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.456296757 meters 0.07776670452274993 Centerline is valid? [True, True] Translation: X:37.29, Y:-2.16, Z:-4.37 [[ 9.79007261e-01 1.83586288e-01 8.85486147e-02 3.72908066e+01] [-1.83365022e-01 9.82986697e-01 -1.06968533e-02 -2.16061648e+00] [-8.90059059e-02 -5.76442155e-03 9.96014418e-01 -4.37112960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.486296757 meters 0.07790549286326472 Centerline is valid? [True, True] Translation: X:37.32, Y:-2.17, Z:-4.37 [[ 9.79059969e-01 1.83462064e-01 8.82227229e-02 3.73225978e+01] [-1.83239936e-01 9.83010208e-01 -1.06797365e-02 -2.16586863e+00] [-8.86831637e-02 -5.70982357e-03 9.96043520e-01 -4.37362048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.516296757 meters 0.07814999300330204 Centerline is valid? [True, True] Translation: X:37.35, Y:-2.17, Z:-4.38 [[ 9.79040629e-01 1.83277976e-01 8.88179659e-02 3.73537382e+01] [-1.83050028e-01 9.83044551e-01 -1.07748623e-02 -2.16843389e+00] [-8.92868124e-02 -5.70910313e-03 9.95989594e-01 -4.37665168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.546296757 meters 0.07692020757067303 Centerline is valid? [True, True] Translation: X:37.39, Y:-2.17, Z:-4.38 [[ 9.79079254e-01 1.83203234e-01 8.85459704e-02 3.73853706e+01] [-1.82974593e-01 9.83058738e-01 -1.07617836e-02 -2.16910657e+00] [-8.90174834e-02 -5.66502385e-03 9.96013953e-01 -4.38017147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.576296757 meters 0.07696229252063841 Centerline is valid? [True, True] Translation: X:37.42, Y:-2.17, Z:-4.39 [[ 9.79321546e-01 1.81520180e-01 8.93293531e-02 3.74169808e+01] [-1.81278010e-01 9.83371650e-01 -1.08848651e-02 -2.16681715e+00] [-8.98197761e-02 -5.53366442e-03 9.95942662e-01 -4.38740933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.606296757 meters 0.07712155349317527 Centerline is valid? [True, True] Translation: X:37.45, Y:-2.17, Z:-4.39 [[ 9.79417458e-01 1.81019524e-01 8.92937587e-02 3.74487896e+01] [-1.80775491e-01 9.83464203e-01 -1.08803749e-02 -2.17088696e+00] [-8.97867756e-02 -5.48569392e-03 9.95945903e-01 -4.39123970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.636296757000004 meters 0.0765307508341733 Centerline is valid? [True, True] Translation: X:37.48, Y:-2.18, Z:-4.39 [[ 9.79497942e-01 1.80453773e-01 8.95556631e-02 3.74798168e+01] [-1.80203963e-01 9.83568488e-01 -1.09343645e-02 -2.17761869e+00] [-9.00572755e-02 -5.42809787e-03 9.95921796e-01 -4.39367401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.666296757 meters 0.07599254648690923 Centerline is valid? [True, True] Translation: X:37.51, Y:-2.19, Z:-4.40 [[ 9.79712202e-01 1.80333777e-01 8.74284317e-02 3.75115056e+01] [-1.80093360e-01 9.83591373e-01 -1.06954343e-02 -2.18513571e+00] [-8.79225993e-02 -5.26683257e-03 9.96113386e-01 -4.39631933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.696296757 meters 0.07680968119166973 Centerline is valid? [True, True] Translation: X:37.54, Y:-2.19, Z:-4.40 [[ 9.79772294e-01 1.80693400e-01 8.60008565e-02 3.75420641e+01] [-1.80460027e-01 9.83525790e-01 -1.05450603e-02 -2.18503780e+00] [-8.64894831e-02 -5.18795892e-03 9.96239256e-01 -4.40182494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.726296757 meters 0.07622335281133953 Centerline is valid? [True, True] Translation: X:37.57, Y:-2.18, Z:-4.41 [[ 9.79442681e-01 1.82623617e-01 8.56775825e-02 3.75733907e+01] [-1.82398153e-01 9.83168481e-01 -1.05190645e-02 -2.18159577e+00] [-8.61565283e-02 -5.32461211e-03 9.96267384e-01 -4.40743033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.756296757 meters 0.07663107961661578 Centerline is valid? [True, True] Translation: X:37.61, Y:-2.18, Z:-4.41 [[ 9.79023233e-01 1.84421576e-01 8.66151888e-02 3.76055545e+01] [-1.84198386e-01 9.82831586e-01 -1.06315238e-02 -2.18109397e+00] [-8.70888257e-02 -5.54586917e-03 9.96185113e-01 -4.41168510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.786296757 meters 0.0761173522251842 Centerline is valid? [True, True] Translation: X:37.64, Y:-2.19, Z:-4.41 [[ 9.78554298e-01 1.86324677e-01 8.78327952e-02 3.76376996e+01] [-1.86100490e-01 9.82471280e-01 -1.08070150e-02 -2.18590431e+00] [-8.83068123e-02 -5.77047515e-03 9.96076608e-01 -4.41289785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.816296757 meters 0.07945622067161184 Centerline is valid? [True, True] Translation: X:37.67, Y:-2.18, Z:-4.41 [[ 9.77789652e-01 1.89511455e-01 8.95142754e-02 3.76684551e+01] [-1.89291445e-01 9.81859122e-01 -1.10187390e-02 -2.18401954e+00] [-8.99785852e-02 -6.17027765e-03 9.95924586e-01 -4.41476079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.846296757 meters 0.07945622067161184 Centerline is valid? [True, True] Translation: X:37.70, Y:-2.19, Z:-4.42 [[ 9.77738324e-01 1.89776646e-01 8.95130963e-02 3.77004664e+01] [-1.89556867e-01 9.81807807e-01 -1.10283110e-02 -2.18807745e+00] [-8.99775727e-02 -6.18501984e-03 9.95924586e-01 -4.41852535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.876296757 meters 0.08026715507847283 Centerline is valid? [True, True] Translation: X:37.73, Y:-2.19, Z:-4.42 [[ 9.77339312e-01 1.91287137e-01 9.06482216e-02 3.77320086e+01] [-1.91065552e-01 9.81513411e-01 -1.11972975e-02 -2.18994310e+00] [-9.11143442e-02 -6.37619347e-03 9.95820024e-01 -4.42198484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.906296757 meters 0.08213458763775668 Centerline is valid? [True, True] Translation: X:37.76, Y:-2.18, Z:-4.43 [[ 9.76950318e-01 1.94251744e-01 8.85117836e-02 3.77626379e+01] [-1.94051328e-01 9.80930299e-01 -1.09467298e-02 -2.18342013e+00] [-8.89503116e-02 -6.48141797e-03 9.96014976e-01 -4.42801682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.936296757 meters 0.08273423914000687 Centerline is valid? [True, True] Translation: X:37.79, Y:-2.18, Z:-4.43 [[ 9.76765725e-01 1.95237774e-01 8.83794703e-02 3.77942537e+01] [-1.95042125e-01 9.80733979e-01 -1.09285180e-02 -2.18236946e+00] [-8.88104091e-02 -6.56311791e-03 9.96026926e-01 -4.43349160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.966296757 meters 0.08428350890509445 Centerline is valid? [True, True] Translation: X:37.82, Y:-2.18, Z:-4.44 [[ 9.76448473e-01 1.97207790e-01 8.75069555e-02 3.78248558e+01] [-1.97022907e-01 9.80339056e-01 -1.08309422e-02 -2.18045126e+00] [-8.79224323e-02 -6.66501771e-03 9.96105026e-01 -4.43840405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.996296757 meters 0.07951328134988621 Centerline is valid? [True, True] Translation: X:37.86, Y:-2.19, Z:-4.44 [[ 9.76180261e-01 1.98591588e-01 8.73697793e-02 3.78564030e+01] [-1.98411690e-01 9.80058974e-01 -1.08263181e-02 -2.19449952e+00] [-8.77775520e-02 -6.76674748e-03 9.96117118e-01 -4.43547254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.026296757 meters 0.0776691048927674 Centerline is valid? [True, True] Translation: X:37.89, Y:-2.20, Z:-4.44 [[ 9.76191380e-01 1.98212611e-01 8.81030675e-02 3.78878902e+01] [-1.98028029e-01 9.80135543e-01 -1.09186900e-02 -2.20423636e+00] [-8.85171699e-02 -6.78814579e-03 9.96051521e-01 -4.43589546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.056296757 meters 0.07820763790932588 Centerline is valid? [True, True] Translation: X:37.92, Y:-2.21, Z:-4.44 [[ 9.76606400e-01 1.95572195e-01 8.93949467e-02 3.79181735e+01] [-1.95368520e-01 9.80666988e-01 -1.11085532e-02 -2.20625130e+00] [-8.98391973e-02 -6.61627430e-03 9.95934307e-01 -4.43852989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.086296757 meters 0.07989110423760623 Centerline is valid? [True, True] Translation: X:37.95, Y:-2.20, Z:-4.44 [[ 9.76862223e-01 1.93672013e-01 9.07267827e-02 3.79482731e+01] [-1.93453953e-01 9.81044558e-01 -1.12757919e-02 -2.20352573e+00] [-9.11908218e-02 -6.53655958e-03 9.95811984e-01 -4.44454523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.116296757 meters 0.07770474816502732 Centerline is valid? [True, True] Translation: X:37.98, Y:-2.21, Z:-4.45 [[ 9.76880002e-01 1.93941541e-01 8.99563218e-02 3.79791496e+01] [-1.93728721e-01 9.80991486e-01 -1.11752811e-02 -2.21045841e+00] [-9.04137371e-02 -6.51021452e-03 9.95883012e-01 -4.44701240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.146296757 meters 0.07842163732420655 Centerline is valid? [True, True] Translation: X:38.01, Y:-2.21, Z:-4.45 [[ 9.76581733e-01 1.95424575e-01 8.99853002e-02 3.80106911e+01] [-1.95215939e-01 9.80696332e-01 -1.12000929e-02 -2.20782322e+00] [-9.04370272e-02 -6.62875878e-03 9.95880115e-01 -4.45235131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.176296757 meters 0.07881406317221126 Centerline is valid? [True, True] Translation: X:38.04, Y:-2.21, Z:-4.46 [[ 9.76633340e-01 1.95273676e-01 8.97524937e-02 3.80428154e+01] [-1.95063620e-01 9.80726736e-01 -1.11916606e-02 -2.20974494e+00] [-9.02081069e-02 -6.57729745e-03 9.95901218e-01 -4.45529970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.206296757 meters 0.07853705701812144 Centerline is valid? [True, True] Translation: X:38.07, Y:-2.22, Z:-4.46 [[ 9.76930249e-01 1.94245895e-01 8.87458167e-02 3.80744832e+01] [-1.94034335e-01 9.80932073e-01 -1.10880449e-02 -2.21548543e+00] [-8.92074252e-02 -6.38748906e-03 9.95992588e-01 -4.45836594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.236296757 meters 0.0777134976269527 Centerline is valid? [True, True] Translation: X:38.10, Y:-2.22, Z:-4.46 [[ 9.77252904e-01 1.92871173e-01 8.81899750e-02 3.81048706e+01] [-1.92654221e-01 9.81204531e-01 -1.10462852e-02 -2.22281463e+00] [-8.86629130e-02 -6.19515659e-03 9.96042423e-01 -4.46080517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.266296757 meters 0.07690384438323151 Centerline is valid? [True, True] Translation: X:38.13, Y:-2.23, Z:-4.46 [[ 9.78214173e-01 1.89215192e-01 8.54086754e-02 3.81338434e+01] [-1.88997477e-01 9.81919255e-01 -1.07018347e-02 -2.22984162e+00] [-8.58893727e-02 -5.67333778e-03 9.96288527e-01 -4.46462173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.296296757 meters 0.07702919952428026 Centerline is valid? [True, True] Translation: X:38.16, Y:-2.23, Z:-4.47 [[ 9.78332903e-01 1.88263440e-01 8.61487590e-02 3.81647641e+01] [-1.88038345e-01 9.82102375e-01 -1.07937858e-02 -2.23262100e+00] [-8.66389760e-02 -5.63935433e-03 9.96223813e-01 -4.46917195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.326296757 meters 0.07580508852761991 Centerline is valid? [True, True] Translation: X:38.20, Y:-2.24, Z:-4.47 [[ 9.78447003e-01 1.87774508e-01 8.59197069e-02 3.81965682e+01] [-1.87549007e-01 9.82196290e-01 -1.07619225e-02 -2.23624760e+00] [-8.64108320e-02 -5.58418480e-03 9.96243938e-01 -4.47305792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.356296757 meters 0.07805525742547426 Centerline is valid? [True, True] Translation: X:38.23, Y:-2.23, Z:-4.48 [[ 9.78562903e-01 1.87609555e-01 8.49546944e-02 3.82279443e+01] [-1.87386499e-01 9.82228375e-01 -1.06639379e-02 -2.23388086e+00] [-8.54455681e-02 -5.48402870e-03 9.96327747e-01 -4.48007997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.386296757000004 meters 0.07649152928454832 Centerline is valid? [True, True] Translation: X:38.26, Y:-2.24, Z:-4.48 [[ 9.78567996e-01 1.87991588e-01 8.40466517e-02 3.82592433e+01] [-1.87773601e-01 9.82155542e-01 -1.05625170e-02 -2.24265260e+00] [-8.45325491e-02 -5.44560130e-03 9.96405838e-01 -4.48262474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.416296757 meters 0.07675667685005969 Centerline is valid? [True, True] Translation: X:38.29, Y:-2.25, Z:-4.49 [[ 9.78759031e-01 1.88007422e-01 8.17555348e-02 3.82901554e+01] [-1.87799570e-01 9.82153425e-01 -1.02942036e-02 -2.25069728e+00] [-8.22318653e-02 -5.27810955e-03 9.96599248e-01 -4.48632773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.446296757 meters 0.07581769556331601 Centerline is valid? [True, True] Translation: X:38.32, Y:-2.26, Z:-4.49 [[ 9.78553690e-01 1.88448059e-01 8.31865678e-02 3.83215992e+01] [-1.88232734e-01 9.82068375e-01 -1.04949958e-02 -2.25982687e+00] [-8.36726590e-02 -5.38851823e-03 9.96478725e-01 -4.48886327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.476296757 meters 0.07706906502321961 Centerline is valid? [True, True] Translation: X:38.35, Y:-2.26, Z:-4.49 [[ 9.78353864e-01 1.89281350e-01 8.36438076e-02 3.83523938e+01] [-1.89064872e-01 9.81907665e-01 -1.05741233e-02 -2.25865896e+00] [-8.41319801e-02 -5.46887138e-03 9.96439613e-01 -4.49445671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.506296757 meters 0.07545708032300763 Centerline is valid? [True, True] Translation: X:38.38, Y:-2.26, Z:-4.50 [[ 9.77980998e-01 1.90872115e-01 8.43860355e-02 3.83843322e+01] [-1.90656068e-01 9.81598725e-01 -1.06867505e-02 -2.26408038e+00] [-8.48730275e-02 -5.63727082e-03 9.96375828e-01 -4.49665831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.536296757 meters 0.07676725135655449 Centerline is valid? [True, True] Translation: X:38.42, Y:-2.26, Z:-4.50 [[ 9.77427837e-01 1.92373906e-01 8.73332877e-02 3.84165372e+01] [-1.92146501e-01 9.81303673e-01 -1.10826180e-02 -2.26265834e+00] [-8.78324825e-02 -5.94832635e-03 9.96117499e-01 -4.50138053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.566296757 meters 0.08011408924242666 Centerline is valid? [True, True] Translation: X:38.45, Y:-2.26, Z:-4.51 [[ 9.77246052e-01 1.93179417e-01 8.75891903e-02 3.84473492e+01] [-1.92951720e-01 9.81145015e-01 -1.11396847e-02 -2.25973842e+00] [-8.80896552e-02 -6.01427198e-03 9.96094394e-01 -4.50745556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.596296757 meters 0.07604557430653071 Centerline is valid? [True, True] Translation: X:38.48, Y:-2.28, Z:-4.51 [[ 9.77351652e-01 1.92201774e-01 8.85563459e-02 3.84766287e+01] [-1.91962782e-01 9.81337287e-01 -1.12880165e-02 -2.27991796e+00] [-8.90732210e-02 -5.96716094e-03 9.96007206e-01 -4.50510398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.626296757 meters 0.07559332395590224 Centerline is valid? [True, True] Translation: X:38.51, Y:-2.29, Z:-4.51 [[ 9.77402615e-01 1.91915799e-01 8.86140743e-02 3.85077914e+01] [-1.91675367e-01 9.81393386e-01 -1.12949376e-02 -2.28664692e+00] [-8.91329433e-02 -5.94543368e-03 9.96001993e-01 -4.50757350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.656296757 meters 0.0755637938263605 Centerline is valid? [True, True] Translation: X:38.54, Y:-2.29, Z:-4.51 [[ 9.77361104e-01 1.91587883e-01 8.97739133e-02 3.85389761e+01] [-1.91337613e-01 9.81457304e-01 -1.14664380e-02 -2.28986961e+00] [-9.03060935e-02 -5.97027570e-03 9.95896162e-01 -4.51081496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.686296757 meters 0.07612610953322689 Centerline is valid? [True, True] Translation: X:38.57, Y:-2.29, Z:-4.52 [[ 9.77245270e-01 1.91746776e-01 9.06909932e-02 3.85703388e+01] [-1.91489854e-01 9.81425952e-01 -1.16076407e-02 -2.28857912e+00] [-9.12322220e-02 -6.02289302e-03 9.95811431e-01 -4.51618345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.716296757 meters 0.0765216727981665 Centerline is valid? [True, True] Translation: X:38.60, Y:-2.29, Z:-4.52 [[ 9.77155739e-01 1.92386250e-01 9.03005637e-02 3.86023976e+01] [-1.92132354e-01 9.81300718e-01 -1.15783657e-02 -2.29084313e+00] [-9.08395264e-02 -6.03579339e-03 9.95847252e-01 -4.52013318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.746296757 meters 0.07714154786698921 Centerline is valid? [True, True] Translation: X:38.63, Y:-2.29, Z:-4.52 [[ 9.76954450e-01 1.93480898e-01 9.01395870e-02 3.86327859e+01] [-1.93230448e-01 9.81085054e-01 -1.15806076e-02 -2.29466456e+00] [-9.06752279e-02 -6.10398660e-03 9.95861810e-01 -4.52424935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.776296757 meters 0.07767424256373057 Centerline is valid? [True, True] Translation: X:38.67, Y:-2.30, Z:-4.53 [[ 9.76761639e-01 1.94016716e-01 9.10725782e-02 3.86651628e+01] [-1.93761540e-01 9.80978642e-01 -1.17204857e-02 -2.29831483e+00] [-9.16142242e-02 -6.19824222e-03 9.95775284e-01 -4.52798361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.806296757 meters 0.07819758441748476 Centerline is valid? [True, True] Translation: X:38.70, Y:-2.30, Z:-4.53 [[ 9.76372462e-01 1.95544639e-01 9.19734183e-02 3.86972475e+01] [-1.95288631e-01 9.80674060e-01 -1.18633581e-02 -2.30139156e+00] [-9.25157616e-02 -6.37830680e-03 9.95690791e-01 -4.53100219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.836296757 meters 0.07860900633009822 Centerline is valid? [True, True] Translation: X:38.73, Y:-2.30, Z:-4.53 [[ 9.76096279e-01 1.96239214e-01 9.34142700e-02 3.87298047e+01] [-1.95976164e-01 9.80534351e-01 -1.20718739e-02 -2.30277593e+00] [-9.39648756e-02 -6.52365918e-03 9.95554139e-01 -4.53456238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.866296757 meters 0.07939292566999474 Centerline is valid? [True, True] Translation: X:38.76, Y:-2.30, Z:-4.54 [[ 9.75959262e-01 1.96867866e-01 9.35230574e-02 3.87623415e+01] [-1.96604526e-01 9.80408047e-01 -1.21128596e-02 -2.30210258e+00] [-9.40753909e-02 -6.56539883e-03 9.95543428e-01 -4.53930086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.896296757 meters 0.0798143118089113 Centerline is valid? [True, True] Translation: X:38.79, Y:-2.30, Z:-4.54 [[ 9.76151733e-01 1.96314739e-01 9.26731797e-02 3.87932753e+01] [-1.96051552e-01 9.80519851e-01 -1.20254413e-02 -2.30479291e+00] [-9.32286636e-02 -6.43006541e-03 9.95623960e-01 -4.54378656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.926296757 meters 0.08035400241432687 Centerline is valid? [True, True] Translation: X:38.83, Y:-2.31, Z:-4.55 [[ 9.76645013e-01 1.94808014e-01 9.06330912e-02 3.88252501e+01] [-1.94547734e-01 9.80822273e-01 -1.17833865e-02 -2.30935585e+00] [-9.11904526e-02 -6.12427684e-03 9.95814639e-01 -4.54769103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.956296757 meters 0.07938166873778889 Centerline is valid? [True, True] Translation: X:38.86, Y:-2.32, Z:-4.55 [[ 9.76986695e-01 1.93606496e-01 8.95182751e-02 3.88563456e+01] [-1.93347043e-01 9.81061332e-01 -1.16440822e-02 -2.31526759e+00] [-9.00772881e-02 -5.93198041e-03 9.95917112e-01 -4.55174719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.986296757 meters 0.07923612477425272 Centerline is valid? [True, True] Translation: X:38.89, Y:-2.32, Z:-4.56 [[ 9.77583030e-01 1.91364363e-01 8.78128666e-02 3.88857887e+01] [-1.91103314e-01 9.81503155e-01 -1.14490032e-02 -2.31775239e+00] [-8.83795369e-02 -5.58897856e-03 9.96071193e-01 -4.55795126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.016296757 meters 0.07872578271290315 Centerline is valid? [True, True] Translation: X:38.92, Y:-2.32, Z:-4.56 [[ 9.77847813e-01 1.90671661e-01 8.63595505e-02 3.89175679e+01] [-1.90416890e-01 9.81638802e-01 -1.12548235e-02 -2.32334389e+00] [-8.69198616e-02 -5.43881248e-03 9.96200460e-01 -4.56216284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.046296757 meters 0.07846949989268408 Centerline is valid? [True, True] Translation: X:38.95, Y:-2.33, Z:-4.57 [[ 9.78098661e-01 1.88923307e-01 8.73555567e-02 3.89488194e+01] [-1.88653420e-01 9.81977438e-01 -1.14104573e-02 -2.32889155e+00] [-8.79368871e-02 -5.31937148e-03 9.96111845e-01 -4.56508159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.076296757 meters 0.07838477272859182 Centerline is valid? [True, True] Translation: X:38.98, Y:-2.33, Z:-4.57 [[ 9.78060860e-01 1.87803459e-01 9.01488523e-02 3.89789795e+01] [-1.87510871e-01 9.82191883e-01 -1.17803947e-02 -2.33298928e+00] [-9.07558699e-02 -5.38194686e-03 9.95858628e-01 -4.56816586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.106296757 meters 0.0783113393130071 Centerline is valid? [True, True] Translation: X:39.01, Y:-2.34, Z:-4.57 [[ 9.78085402e-01 1.87005266e-01 9.15312836e-02 3.90098301e+01] [-1.86699895e-01 9.82344141e-01 -1.19640564e-02 -2.33694076e+00] [-9.21525617e-02 -5.38701212e-03 9.95730328e-01 -4.57014552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.136296757000004 meters 0.07413133996785237 Centerline is valid? [True, True] Translation: X:39.04, Y:-2.35, Z:-4.57 [[ 9.78132643e-01 1.85816739e-01 9.34273647e-02 3.90406570e+01] [-1.85492959e-01 9.82569675e-01 -1.22145673e-02 -2.35148235e+00] [-9.40685665e-02 -5.38265138e-03 9.95551170e-01 -4.56797398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.166296757 meters 0.07870623940369965 Centerline is valid? [True, True] Translation: X:39.07, Y:-2.34, Z:-4.58 [[ 9.78074655e-01 1.86055075e-01 9.35600272e-02 3.90737591e+01] [-1.85731406e-01 9.82524407e-01 -1.22324765e-02 -2.34227854e+00] [-9.42009246e-02 -5.41276020e-03 9.95538491e-01 -4.57646292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.196296757 meters 0.07466423646797203 Centerline is valid? [True, True] Translation: X:39.10, Y:-2.36, Z:-4.58 [[ 9.78140536e-01 1.86445694e-01 9.20820006e-02 3.91046154e+01] [-1.86131600e-01 9.82450759e-01 -1.20637109e-02 -2.35630323e+00] [-9.27152583e-02 -5.33936541e-03 9.95678348e-01 -4.57816576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.226296757 meters 0.07380963779143886 Centerline is valid? [True, True] Translation: X:39.14, Y:-2.36, Z:-4.58 [[ 9.78089611e-01 1.86797743e-01 9.19092786e-02 3.91368357e+01] [-1.86484345e-01 9.82383874e-01 -1.20628664e-02 -2.36302559e+00] [-9.25435093e-02 -5.34107734e-03 9.95694316e-01 -4.58124905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.256296757 meters 0.074456927170249 Centerline is valid? [True, True] Translation: X:39.17, Y:-2.37, Z:-4.59 [[ 9.78204390e-01 1.86472762e-01 9.13459386e-02 3.91676050e+01] [-1.86159202e-01 9.82446104e-01 -1.20168440e-02 -2.36562407e+00] [-9.19832756e-02 -5.24995743e-03 9.95746712e-01 -4.58529612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.286296757 meters 0.07366940009040361 Centerline is valid? [True, True] Translation: X:39.20, Y:-2.37, Z:-4.59 [[ 9.78475687e-01 1.84216063e-01 9.30041541e-02 3.91978209e+01] [-1.83878335e-01 9.82872524e-01 -1.22621066e-02 -2.37359373e+00] [-9.36701047e-02 -5.10327587e-03 9.95590211e-01 -4.58659102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.316296757 meters 0.07250213084661784 Centerline is valid? [True, True] Translation: X:39.23, Y:-2.38, Z:-4.59 [[ 9.78493063e-01 1.83578634e-01 9.40755537e-02 3.92294459e+01] [-1.83230354e-01 9.82991783e-01 -1.24012921e-02 -2.38122377e+00] [-9.47521085e-02 -5.10291875e-03 9.95487819e-01 -4.58842830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.346296757 meters 0.07278895139468153 Centerline is valid? [True, True] Translation: X:39.26, Y:-2.38, Z:-4.59 [[ 9.78532164e-01 1.83496167e-01 9.38294281e-02 3.92607756e+01] [-1.83146977e-01 9.83007418e-01 -1.23936186e-02 -2.38034177e+00] [-9.45092053e-02 -5.05702165e-03 9.95511143e-01 -4.59377657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.376296757 meters 0.07302104247301267 Centerline is valid? [True, True] Translation: X:39.29, Y:-2.38, Z:-4.60 [[ 9.78301192e-01 1.84703954e-01 9.38681325e-02 3.92923456e+01] [-1.84357904e-01 9.82780691e-01 -1.24208518e-02 -2.38226324e+00] [-9.45459685e-02 -5.15399806e-03 9.95507155e-01 -4.59826596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.406296757 meters 0.07333271296551781 Centerline is valid? [True, True] Translation: X:39.32, Y:-2.39, Z:-4.60 [[ 9.78082945e-01 1.86119147e-01 9.33456755e-02 3.93237517e+01] [-1.85781064e-01 9.82513224e-01 -1.23758528e-02 -2.38506846e+00] [-9.40167437e-02 -5.23724840e-03 9.95556841e-01 -4.60152525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.436296757 meters 0.0740920306013625 Centerline is valid? [True, True] Translation: X:39.35, Y:-2.39, Z:-4.60 [[ 9.77547634e-01 1.88623479e-01 9.39244714e-02 3.93535385e+01] [-1.88290099e-01 9.82034161e-01 -1.24798093e-02 -2.38657890e+00] [-9.45910245e-02 -5.48543996e-03 9.95501104e-01 -4.60455374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.466296757 meters 0.07458488070860277 Centerline is valid? [True, True] Translation: X:39.39, Y:-2.39, Z:-4.61 [[ 9.77355586e-01 1.89225249e-01 9.47093668e-02 3.93850151e+01] [-1.88889597e-01 9.81917763e-01 -1.25788102e-02 -2.38900756e+00] [-9.53770381e-02 -5.59564369e-03 9.95425492e-01 -4.60800011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.496296757 meters 0.07488298371766819 Centerline is valid? [True, True] Translation: X:39.42, Y:-2.39, Z:-4.61 [[ 9.77179384e-01 1.90614287e-01 9.37371025e-02 3.94168802e+01] [-1.90289102e-01 9.81648789e-01 -1.24784812e-02 -2.39142967e+00] [-9.43954899e-02 -5.64343443e-03 9.95518781e-01 -4.61251066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.526296757 meters 0.07544308538089466 Centerline is valid? [True, True] Translation: X:39.45, Y:-2.39, Z:-4.62 [[ 9.77087310e-01 1.91209622e-01 9.34840540e-02 3.94488285e+01] [-1.90888620e-01 9.81532775e-01 -1.24477095e-02 -2.39296227e+00] [-9.41377848e-02 -5.68254306e-03 9.95542960e-01 -4.61706612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.556296757 meters 0.07566533862749944 Centerline is valid? [True, True] Translation: X:39.48, Y:-2.40, Z:-4.62 [[ 9.77081604e-01 1.91754712e-01 9.24211555e-02 3.94801872e+01] [-1.91441241e-01 9.81426638e-01 -1.23290689e-02 -2.39578299e+00] [-9.30687409e-02 -5.64671432e-03 9.95643673e-01 -4.62031717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.586296757 meters 0.07618482260379272 Centerline is valid? [True, True] Translation: X:39.51, Y:-2.40, Z:-4.63 [[ 9.77132286e-01 1.92549792e-01 9.02057239e-02 3.95112248e+01] [-1.92252687e-01 9.81271428e-01 -1.20535809e-02 -2.39729169e+00] [-9.08372140e-02 -5.56434969e-03 9.95850209e-01 -4.62678106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.616296757 meters 0.07660828596587001 Centerline is valid? [True, True] Translation: X:39.54, Y:-2.40, Z:-4.63 [[ 9.77557490e-01 1.92012211e-01 8.66756346e-02 3.95417693e+01] [-1.91734137e-01 9.81378341e-01 -1.16005302e-02 -2.40202032e+00] [-8.72890339e-02 -5.27849278e-03 9.96169043e-01 -4.63317846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.646296757 meters 0.07690111398315055 Centerline is valid? [True, True] Translation: X:39.57, Y:-2.41, Z:-4.64 [[ 9.77628377e-01 1.91526907e-01 8.69494167e-02 3.95729013e+01] [-1.91243480e-01 9.81473413e-01 -1.16563668e-02 -2.40594791e+00] [-8.75710486e-02 -5.23291409e-03 9.96144532e-01 -4.63724592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.676296757 meters 0.07605043035574514 Centerline is valid? [True, True] Translation: X:39.60, Y:-2.41, Z:-4.64 [[ 9.77858630e-01 1.89767644e-01 8.82085150e-02 3.96040502e+01] [-1.89466533e-01 9.81815658e-01 -1.18510101e-02 -2.41147310e+00] [-8.88534394e-02 -5.12394898e-03 9.96031531e-01 -4.63995582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.706296757 meters 0.07555225219447785 Centerline is valid? [True, True] Translation: X:39.63, Y:-2.42, Z:-4.64 [[ 9.78336778e-01 1.86582864e-01 8.96882550e-02 3.96341907e+01] [-1.86257485e-01 9.82426967e-01 -1.20583147e-02 -2.41604225e+00] [-9.03620353e-02 -4.90801600e-03 9.95896889e-01 -4.64315316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.736296757 meters 0.0734525349533321 Centerline is valid? [True, True] Translation: X:39.66, Y:-2.43, Z:-4.64 [[ 9.78723501e-01 1.84423814e-01 8.99342268e-02 3.96644225e+01] [-1.84087527e-01 9.82835473e-01 -1.20919201e-02 -2.42724891e+00] [-9.06205864e-02 -4.72112302e-03 9.95874299e-01 -4.64351418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.766296757 meters 0.0734525349533321 Centerline is valid? [True, True] Translation: X:39.70, Y:-2.43, Z:-4.65 [[ 9.78671631e-01 1.84698682e-01 8.99346215e-02 3.96963586e+01] [-1.84363818e-01 9.82783719e-01 -1.20889932e-02 -2.43163561e+00] [-9.06191029e-02 -4.74953554e-03 9.95874299e-01 -4.64726948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.796296757 meters 0.07261035527770705 Centerline is valid? [True, True] Translation: X:39.73, Y:-2.44, Z:-4.65 [[ 9.79407939e-01 1.79642238e-01 9.21344386e-02 3.97266894e+01] [-1.79265461e-01 9.83722370e-01 -1.24174207e-02 -2.43977097e+00] [-9.28654016e-02 -4.35480224e-03 9.95669148e-01 -4.65065420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.826296757 meters 0.07262954176416601 Centerline is valid? [True, True] Translation: X:39.76, Y:-2.45, Z:-4.65 [[ 9.79815535e-01 1.77968397e-01 9.10426696e-02 3.97572456e+01] [-1.77593097e-01 9.84027479e-01 -1.22724557e-02 -2.44558538e+00] [-9.17725979e-02 -4.14380691e-03 9.95771369e-01 -4.65433259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.856296757 meters 0.07226009834138873 Centerline is valid? [True, True] Translation: X:39.79, Y:-2.45, Z:-4.66 [[ 9.80066171e-01 1.76101302e-01 9.19708244e-02 3.97881331e+01] [-1.75708748e-01 9.84363942e-01 -1.24123304e-02 -2.45359531e+00] [-9.27185908e-02 -3.99517323e-03 9.95684338e-01 -4.65802071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.886296757000004 meters 0.07130459668495613 Centerline is valid? [True, True] Translation: X:39.82, Y:-2.46, Z:-4.66 [[ 9.80335468e-01 1.73735884e-01 9.35853294e-02 3.98181926e+01] [-1.73317916e-01 9.84784836e-01 -1.26383399e-02 -2.46446802e+00] [-9.43571464e-02 -3.83020144e-03 9.95531043e-01 -4.65910531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.916296757 meters 0.07108065250937948 Centerline is valid? [True, True] Translation: X:39.85, Y:-2.47, Z:-4.66 [[ 9.80287423e-01 1.73151408e-01 9.51585974e-02 3.98497780e+01] [-1.72716591e-01 9.84887737e-01 -1.28500953e-02 -2.46897778e+00] [-9.59455478e-02 -3.83868170e-03 9.95379182e-01 -4.66256559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.946296757 meters 0.0718858842074925 Centerline is valid? [True, True] Translation: X:39.88, Y:-2.47, Z:-4.67 [[ 9.80128580e-01 1.74194978e-01 9.48898087e-02 3.98804681e+01] [-1.73765069e-01 9.84703439e-01 -1.28389274e-02 -2.46790519e+00] [-9.56747976e-02 -3.90473446e-03 9.95404986e-01 -4.66715083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.976296757 meters 0.07182821822227756 Centerline is valid? [True, True] Translation: X:39.91, Y:-2.47, Z:-4.67 [[ 9.79989787e-01 1.74790592e-01 9.52274481e-02 3.99130325e+01] [-1.74358745e-01 9.84597668e-01 -1.29019482e-02 -2.47260591e+00] [-9.60158624e-02 -3.95996088e-03 9.95371927e-01 -4.67127390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.006296757 meters 0.07232297314641709 Centerline is valid? [True, True] Translation: X:39.94, Y:-2.48, Z:-4.67 [[ 9.79885501e-01 1.75796874e-01 9.44450300e-02 3.99443911e+01] [-1.75374130e-01 9.84418344e-01 -1.28233352e-02 -2.47869944e+00] [-9.52277223e-02 -3.99781471e-03 9.95447487e-01 -4.67490662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.036296757 meters 0.0726194568883158 Centerline is valid? [True, True] Translation: X:39.98, Y:-2.48, Z:-4.68 [[ 9.79800801e-01 1.76632484e-01 9.37622272e-02 3.99761399e+01] [-1.76217452e-01 9.84268639e-01 -1.27536858e-02 -2.48417180e+00] [-9.45399349e-02 -4.02646921e-03 9.95512927e-01 -4.67770711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.066296757 meters 0.07255610256607345 Centerline is valid? [True, True] Translation: X:40.01, Y:-2.49, Z:-4.68 [[ 9.79611761e-01 1.77296710e-01 9.44810802e-02 4.00080723e+01] [-1.76876171e-01 9.84148907e-01 -1.28743938e-02 -2.48855238e+00] [-9.52660395e-02 -4.09954408e-03 9.95443406e-01 -4.68177877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.096296757 meters 0.07376484953601671 Centerline is valid? [True, True] Translation: X:40.04, Y:-2.49, Z:-4.69 [[ 9.79113743e-01 1.80552637e-01 9.34720468e-02 4.00382071e+01] [-1.80153052e-01 9.83555748e-01 -1.27659039e-02 -2.48619878e+00] [-9.42398865e-02 -4.34000258e-03 9.95540059e-01 -4.68862377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.126296757 meters 0.07407732965315307 Centerline is valid? [True, True] Translation: X:40.07, Y:-2.49, Z:-4.69 [[ 9.78826454e-01 1.83126621e-01 9.14517046e-02 4.00687388e+01] [-1.82754164e-01 9.83079147e-01 -1.25022468e-02 -2.48706419e+00] [-9.21937579e-02 -4.47565000e-03 9.95731028e-01 -4.69435685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.156296757 meters 0.07490019365620429 Centerline is valid? [True, True] Translation: X:40.10, Y:-2.49, Z:-4.70 [[ 9.78509440e-01 1.85251610e-01 9.05600169e-02 4.01000966e+01] [-1.84894492e-01 9.82680263e-01 -1.23906234e-02 -2.48747941e+00] [-9.12869241e-02 -4.61970631e-03 9.95813916e-01 -4.69953332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.186296757 meters 0.07665201612318263 Centerline is valid? [True, True] Translation: X:40.13, Y:-2.49, Z:-4.71 [[ 9.77844866e-01 1.89764125e-01 8.83685229e-02 4.01303510e+01] [-1.89440201e-01 9.81817513e-01 -1.21153241e-02 -2.48544928e+00] [-8.90608173e-02 -4.89364329e-03 9.96014168e-01 -4.70539190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.216296757 meters 0.07751035633467869 Centerline is valid? [True, True] Translation: X:40.16, Y:-2.49, Z:-4.71 [[ 9.77492327e-01 1.92011107e-01 8.74098743e-02 4.01609500e+01] [-1.91703292e-01 9.81379787e-01 -1.19817409e-02 -2.48853462e+00] [-8.80829112e-02 -5.04470088e-03 9.96100372e-01 -4.70905621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.246296757 meters 0.07854673713110048 Centerline is valid? [True, True] Translation: X:40.19, Y:-2.49, Z:-4.71 [[ 9.77145040e-01 1.94009812e-01 8.68778619e-02 4.01908637e+01] [-1.93712551e-01 9.80985906e-01 -1.19205620e-02 -2.49217520e+00] [-8.75386640e-02 -5.18121418e-03 9.96147648e-01 -4.71267183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.276296757 meters 0.07578047186085543 Centerline is valid? [True, True] Translation: X:40.22, Y:-2.50, Z:-4.71 [[ 9.77020744e-01 1.94400910e-01 8.73999584e-02 4.02223873e+01] [-1.94101067e-01 9.80908157e-01 -1.19985058e-02 -2.50373326e+00] [-8.80638526e-02 -5.24163610e-03 9.96101041e-01 -4.71265390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.306296757 meters 0.07895418615946936 Centerline is valid? [True, True] Translation: X:40.25, Y:-2.50, Z:-4.72 [[ 9.77175905e-01 1.92978685e-01 8.88058383e-02 4.02536469e+01] [-1.92660337e-01 9.81189360e-01 -1.22243462e-02 -2.49757268e+00] [-8.94943819e-02 -5.16402618e-03 9.95973940e-01 -4.71979752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.336296757 meters 0.0776507127566935 Centerline is valid? [True, True] Translation: X:40.28, Y:-2.51, Z:-4.72 [[ 9.77180785e-01 1.92489028e-01 8.98091783e-02 4.02844715e+01] [-1.92161547e-01 9.81285458e-01 -1.23607913e-02 -2.50677466e+00] [-9.05077574e-02 -5.17914291e-03 9.95882283e-01 -4.72137346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.366296757 meters 0.07656245033248442 Centerline is valid? [True, True] Translation: X:40.32, Y:-2.52, Z:-4.72 [[ 9.77229597e-01 1.92446370e-01 8.93683900e-02 4.03167309e+01] [-1.92120100e-01 9.81294084e-01 -1.23201983e-02 -2.51703439e+00] [-9.00676498e-02 -5.12980167e-03 9.95922439e-01 -4.72316028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.396296757 meters 0.07648870630886336 Centerline is valid? [True, True] Translation: X:40.35, Y:-2.52, Z:-4.73 [[ 9.77629638e-01 1.90835007e-01 8.84437202e-02 4.03470693e+01] [-1.90506573e-01 9.81609878e-01 -1.22185782e-02 -2.52436707e+00] [-8.91489618e-02 -4.90386583e-03 9.96006232e-01 -4.72790041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.426296757 meters 0.07483051861497278 Centerline is valid? [True, True] Translation: X:40.38, Y:-2.53, Z:-4.73 [[ 9.77706965e-01 1.90478186e-01 8.83580792e-02 4.03781622e+01] [-1.90146846e-01 9.81679480e-01 -1.22301340e-02 -2.53384689e+00] [-8.90688869e-02 -4.84352284e-03 9.96013692e-01 -4.73017469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.456296757 meters 0.07448011203588634 Centerline is valid? [True, True] Translation: X:40.41, Y:-2.54, Z:-4.74 [[ 9.78009363e-01 1.88152069e-01 8.99804737e-02 4.04079608e+01] [-1.87797754e-01 9.82128626e-01 -1.24646047e-02 -2.53753804e+00] [-9.07176401e-02 -4.70763073e-03 9.95865527e-01 -4.73509202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.486296757 meters 0.07552442288640918 Centerline is valid? [True, True] Translation: X:40.44, Y:-2.54, Z:-4.74 [[ 9.78152820e-01 1.86869938e-01 9.10861486e-02 4.04378500e+01] [-1.86501075e-01 9.82373692e-01 -1.26205606e-02 -2.53972633e+00] [-9.18390395e-02 -4.64282765e-03 9.95763042e-01 -4.73974435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.516296757 meters 0.07457774926767029 Centerline is valid? [True, True] Translation: X:40.47, Y:-2.55, Z:-4.74 [[ 9.78364404e-01 1.85879779e-01 9.08394226e-02 4.04694600e+01] [-1.85508669e-01 9.82562018e-01 -1.25863052e-02 -2.54881331e+00] [-9.15949060e-02 -4.53750741e-03 9.95786013e-01 -4.74271585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.546296757 meters 0.07401460048373132 Centerline is valid? [True, True] Translation: X:40.50, Y:-2.55, Z:-4.75 [[ 9.78542938e-01 1.84446265e-01 9.18329658e-02 4.04997610e+01] [-1.84059835e-01 9.82832559e-01 -1.27333619e-02 -2.55497377e+00] [-9.26050498e-02 -4.44261924e-03 9.95693009e-01 -4.74559020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.576296757 meters 0.07426514766493116 Centerline is valid? [True, True] Translation: X:40.53, Y:-2.56, Z:-4.75 [[ 9.78366578e-01 1.84844062e-01 9.29059272e-02 4.05312870e+01] [-1.84450448e-01 9.82757403e-01 -1.28809560e-02 -2.55733453e+00] [-9.36849559e-02 -4.53424308e-03 9.95591568e-01 -4.75005932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.606296757 meters 0.07494487337297659 Centerline is valid? [True, True] Translation: X:40.56, Y:-2.56, Z:-4.75 [[ 9.78015137e-01 1.86219625e-01 9.38543724e-02 4.05618960e+01] [-1.85821633e-01 9.82496963e-01 -1.30398478e-02 -2.55836432e+00] [-9.46399115e-02 -4.68700419e-03 9.95500537e-01 -4.75315833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.636296757000004 meters 0.07530465683742182 Centerline is valid? [True, True] Translation: X:40.59, Y:-2.56, Z:-4.76 [[ 9.77864151e-01 1.87394312e-01 9.30863790e-02 4.05935341e+01] [-1.87008191e-01 9.82273228e-01 -1.29321798e-02 -2.56174676e+00] [-9.38596750e-02 -4.76200034e-03 9.95574048e-01 -4.75743292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.666296757 meters 0.07576008259048866 Centerline is valid? [True, True] Translation: X:40.62, Y:-2.56, Z:-4.76 [[ 9.77517574e-01 1.89861402e-01 9.17171732e-02 4.06242085e+01] [-1.89495115e-01 9.81798670e-01 -1.27660601e-02 -2.56495328e+00] [-9.24715808e-02 -4.90090824e-03 9.95703263e-01 -4.76064405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.696296757 meters 0.07627029634020863 Centerline is valid? [True, True] Translation: X:40.66, Y:-2.57, Z:-4.76 [[ 9.77275305e-01 1.91173245e-01 9.15738429e-02 4.06562069e+01] [-1.90812524e-01 9.81543559e-01 -1.27601876e-02 -2.56739415e+00] [-9.23231222e-02 -5.00321988e-03 9.95716530e-01 -4.76493835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.726296757 meters 0.0768287019746955 Centerline is valid? [True, True] Translation: X:40.69, Y:-2.57, Z:-4.77 [[ 9.76870391e-01 1.92943929e-01 9.21785211e-02 4.06881667e+01] [-1.92585678e-01 9.81196012e-01 -1.28508028e-02 -2.56914562e+00] [-9.29246816e-02 -5.19869417e-03 9.95659569e-01 -4.76947554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.756296757 meters 0.07819279758740649 Centerline is valid? [True, True] Translation: X:40.72, Y:-2.57, Z:-4.78 [[ 9.76263569e-01 1.96742283e-01 9.05644422e-02 4.07181440e+01] [-1.96412138e-01 9.80440058e-01 -1.26318937e-02 -2.56516868e+00] [-9.12782346e-02 -5.45589810e-03 9.95810483e-01 -4.77583609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.786296757 meters 0.07921102482353985 Centerline is valid? [True, True] Translation: X:40.75, Y:-2.57, Z:-4.78 [[ 9.75943822e-01 1.98307424e-01 9.05970310e-02 4.07500582e+01] [-1.97983199e-01 9.80123881e-01 -1.26423841e-02 -2.56555637e+00] [-9.13033923e-02 -5.59843339e-03 9.95807385e-01 -4.78155582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.816296757 meters 0.07809111340062969 Centerline is valid? [True, True] Translation: X:40.78, Y:-2.57, Z:-4.78 [[ 9.75860112e-01 1.99170359e-01 8.96002798e-02 4.07806490e+01] [-1.98856422e-01 9.79948814e-01 -1.25078506e-02 -2.57456166e+00] [-9.02948809e-02 -5.61167851e-03 9.95899264e-01 -4.78344427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.846296757 meters 0.07994628091311023 Centerline is valid? [True, True] Translation: X:40.81, Y:-2.58, Z:-4.79 [[ 9.76122911e-01 1.98258769e-01 8.87554102e-02 4.08110097e+01] [-1.97946235e-01 9.80134468e-01 -1.23981008e-02 -2.57549316e+00] [-8.94502690e-02 -5.46672908e-03 9.95976287e-01 -4.78968865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.876296757 meters 0.07675768000330058 Centerline is valid? [True, True] Translation: X:40.84, Y:-2.59, Z:-4.79 [[ 9.76334692e-01 1.97652267e-01 8.77732938e-02 4.08419065e+01] [-1.97342503e-01 9.80257694e-01 -1.22796317e-02 -2.59035619e+00] [-8.84675437e-02 -5.33237115e-03 9.96064787e-01 -4.78972150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.906296757 meters 0.0766045422266631 Centerline is valid? [True, True] Translation: X:40.87, Y:-2.60, Z:-4.79 [[ 9.77108591e-01 1.94753687e-01 8.56142677e-02 4.08713952e+01] [-1.94445546e-01 9.80839854e-01 -1.20045907e-02 -2.59629623e+00] [-8.63118241e-02 -4.91752429e-03 9.96256035e-01 -4.79467827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.936296757 meters 0.07622397212918325 Centerline is valid? [True, True] Translation: X:40.90, Y:-2.60, Z:-4.80 [[ 9.77300526e-01 1.93231770e-01 8.68629114e-02 4.09021292e+01] [-1.92908506e-01 9.81141141e-01 -1.21807489e-02 -2.60112469e+00] [-8.75784836e-02 -4.85234217e-03 9.96145805e-01 -4.79816273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.966296757 meters 0.07574264566460005 Centerline is valid? [True, True] Translation: X:40.93, Y:-2.61, Z:-4.80 [[ 9.77815220e-01 1.89529964e-01 8.91952317e-02 4.09327256e+01] [-1.89173518e-01 9.81863973e-01 -1.25107386e-02 -2.60672950e+00] [-8.99487444e-02 -4.64018511e-03 9.95935586e-01 -4.80198002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.996296757 meters 0.07554329430006047 Centerline is valid? [True, True] Translation: X:40.96, Y:-2.61, Z:-4.80 [[ 9.77989681e-01 1.88770385e-01 8.88927755e-02 4.09639072e+01] [-1.88413306e-01 9.82010687e-01 -1.24674496e-02 -2.61307856e+00] [-8.96471407e-02 -4.55554473e-03 9.95963171e-01 -4.80490539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.026296757 meters 0.07594497247355143 Centerline is valid? [True, True] Translation: X:40.99, Y:-2.62, Z:-4.81 [[ 9.78167265e-01 1.87321771e-01 8.99964158e-02 4.09931693e+01] [-1.86947165e-01 9.82288523e-01 -1.26497099e-02 -2.62127126e+00] [-9.07720124e-02 -4.45104270e-03 9.95861752e-01 -4.80762635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.056296757 meters 0.0753252186663235 Centerline is valid? [True, True] Translation: X:41.02, Y:-2.63, Z:-4.81 [[ 9.78102016e-01 1.87012858e-01 9.13380395e-02 4.10245175e+01] [-1.86625990e-01 9.82347194e-01 -1.28347257e-02 -2.62946530e+00] [-9.21259255e-02 -4.49238094e-03 9.95737231e-01 -4.81024679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.086296757 meters 0.07508071461252941 Centerline is valid? [True, True] Translation: X:41.06, Y:-2.63, Z:-4.81 [[ 9.78100090e-01 1.86941779e-01 9.15040221e-02 4.10563570e+01] [-1.86551154e-01 9.82360815e-01 -1.28800691e-02 -2.63437915e+00] [-9.22977888e-02 -4.47218417e-03 9.95721406e-01 -4.81456154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.116296757 meters 0.07445202393965196 Centerline is valid? [True, True] Translation: X:41.09, Y:-2.64, Z:-4.82 [[ 9.77746716e-01 1.88187636e-01 9.27187822e-02 4.10876015e+01] [-1.87790032e-01 9.82122185e-01 -1.30735604e-02 -2.63983495e+00] [-9.35214553e-02 -4.62903237e-03 9.95606503e-01 -4.81879588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.146296757 meters 0.0748642603859573 Centerline is valid? [True, True] Translation: X:41.12, Y:-2.64, Z:-4.82 [[ 9.77491066e-01 1.89299538e-01 9.31498864e-02 4.11180092e+01] [-1.88900623e-01 9.81907995e-01 -1.31622132e-02 -2.64278717e+00] [-9.39562190e-02 -4.73012577e-03 9.95565093e-01 -4.82238359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.176296757 meters 0.07524003588226319 Centerline is valid? [True, True] Translation: X:41.15, Y:-2.65, Z:-4.83 [[ 9.77356696e-01 1.89923056e-01 9.32905173e-02 4.11496106e+01] [-1.89525801e-01 9.81787255e-01 -1.31816723e-02 -2.64694974e+00] [-9.40949444e-02 -4.79776432e-03 9.95551668e-01 -4.82560592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.206296757000004 meters 0.07499387764478492 Centerline is valid? [True, True] Translation: X:41.18, Y:-2.65, Z:-4.83 [[ 9.77131765e-01 1.90957327e-01 9.35350860e-02 4.11813779e+01] [-1.90560542e-01 9.81586170e-01 -1.32390181e-02 -2.65333917e+00] [-9.43408343e-02 -4.88783158e-03 9.95527958e-01 -4.82882889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.236296757 meters 0.07647409142871678 Centerline is valid? [True, True] Translation: X:41.21, Y:-2.65, Z:-4.83 [[ 9.76573354e-01 1.94013436e-01 9.30766935e-02 4.12114714e+01] [-1.93631824e-01 9.80985453e-01 -1.32007089e-02 -2.65276775e+00] [-9.38679972e-02 -5.13114932e-03 9.95571429e-01 -4.83327472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.266296757 meters 0.07667787871864669 Centerline is valid? [True, True] Translation: X:41.24, Y:-2.66, Z:-4.84 [[ 9.76247628e-01 1.96080669e-01 9.21571518e-02 4.12418674e+01] [-1.95715119e-01 9.80573604e-01 -1.30766556e-02 -2.65651995e+00] [-9.29309499e-02 -5.27049394e-03 9.95658606e-01 -4.83597766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.296296757 meters 0.07752483257430898 Centerline is valid? [True, True] Translation: X:41.27, Y:-2.65, Z:-4.84 [[ 9.75399989e-01 2.00430579e-01 9.17738775e-02 4.12731691e+01] [-2.00085663e-01 9.79691646e-01 -1.30386824e-02 -2.65456589e+00] [-9.25234517e-02 -5.64470643e-03 9.95694505e-01 -4.84057109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.326296757 meters 0.07862008242486064 Centerline is valid? [True, True] Translation: X:41.30, Y:-2.65, Z:-4.85 [[ 9.75032824e-01 2.03096358e-01 8.97934393e-02 4.13045009e+01] [-2.02777123e-01 9.79141776e-01 -1.27601513e-02 -2.65306204e+00] [-9.05120478e-02 -5.76648893e-03 9.95878666e-01 -4.84682457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.356296757 meters 0.07939855425227724 Centerline is valid? [True, True] Translation: X:41.34, Y:-2.65, Z:-4.85 [[ 9.74493450e-01 2.05863350e-01 8.93465008e-02 4.13358517e+01] [-2.05558660e-01 9.78562407e-01 -1.26985070e-02 -2.65383708e+00] [-9.00452841e-02 -5.99133507e-03 9.95919651e-01 -4.85077001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.386296757000004 meters 0.08189146274124881 Centerline is valid? [True, True] Translation: X:41.37, Y:-2.65, Z:-4.86 [[ 9.74086438e-01 2.08784856e-01 8.69741109e-02 4.13662218e+01] [-2.08507316e-01 9.77942635e-01 -1.23653240e-02 -2.65257591e+00] [-8.76373836e-02 -6.08984409e-03 9.96133828e-01 -4.85593242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.416296757 meters 0.08217757139065159 Centerline is valid? [True, True] Translation: X:41.40, Y:-2.66, Z:-4.86 [[ 9.74165988e-01 2.09143675e-01 8.52030036e-02 4.13972767e+01] [-2.08879123e-01 9.77866506e-01 -1.21082339e-02 -2.65702260e+00] [-8.58495239e-02 -6.00169898e-03 9.96290038e-01 -4.86027387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.446296757 meters 0.07998614439430039 Centerline is valid? [True, True] Translation: X:41.43, Y:-2.67, Z:-4.86 [[ 9.74527240e-01 2.08288507e-01 8.31417823e-02 4.14276524e+01] [-2.08032017e-01 9.78050441e-01 -1.18327784e-02 -2.66760445e+00] [-8.37814886e-02 -5.76478781e-03 9.96467475e-01 -4.86294409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.476296757 meters 0.08199738099805921 Centerline is valid? [True, True] Translation: X:41.46, Y:-2.67, Z:-4.87 [[ 9.74846129e-01 2.06823664e-01 8.30601968e-02 4.14576725e+01] [-2.06560004e-01 9.78362178e-01 -1.18496101e-02 -2.66681492e+00] [-8.37137348e-02 -5.60536796e-03 9.96474079e-01 -4.86913977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.506296757 meters 0.08143752041847843 Centerline is valid? [True, True] Translation: X:41.49, Y:-2.67, Z:-4.87 [[ 9.75311196e-01 2.04390937e-01 8.36206682e-02 4.14884726e+01] [-2.04114767e-01 9.78874268e-01 -1.19301986e-02 -2.67291453e+00] [-8.42925449e-02 -5.43255693e-03 9.96426241e-01 -4.87293438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.536296757 meters 0.07839216346825267 Centerline is valid? [True, True] Translation: X:41.52, Y:-2.69, Z:-4.87 [[ 9.76749560e-01 1.97687031e-01 8.29465770e-02 4.15176042e+01] [-1.97390835e-01 9.80253389e-01 -1.18385921e-02 -2.68787101e+00] [-8.36489993e-02 -4.80955446e-03 9.96483674e-01 -4.87382793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.566296757 meters 0.07916635529941593 Centerline is valid? [True, True] Translation: X:41.55, Y:-2.69, Z:-4.88 [[ 9.77430236e-01 1.94323915e-01 8.28755021e-02 4.15474737e+01] [-1.94015977e-01 9.80927025e-01 -1.18309718e-02 -2.69181441e+00] [-8.35938605e-02 -4.51522191e-03 9.96489678e-01 -4.87989037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.596296757 meters 0.07545003031061302 Centerline is valid? [True, True] Translation: X:41.58, Y:-2.71, Z:-4.88 [[ 9.78718202e-01 1.87858573e-01 8.25823049e-02 4.15767051e+01] [-1.87529857e-01 9.82188153e-01 -1.17892164e-02 -2.71187894e+00] [-8.33260669e-02 -3.94832711e-03 9.96514514e-01 -4.87801402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.626296757 meters 0.07559533684479534 Centerline is valid? [True, True] Translation: X:41.61, Y:-2.72, Z:-4.88 [[ 9.79131947e-01 1.85375585e-01 8.32857883e-02 4.16065955e+01] [-1.85031899e-01 9.82660532e-01 -1.18943089e-02 -2.71814738e+00] [-8.40465716e-02 -3.76442973e-03 9.96454717e-01 -4.88225496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.656296757 meters 0.07559533684479534 Centerline is valid? [True, True] Translation: X:41.64, Y:-2.72, Z:-4.89 [[ 9.79081066e-01 1.85643837e-01 8.32864446e-02 4.16384841e+01] [-1.85301508e-01 9.82609783e-01 -1.18897233e-02 -2.72281394e+00] [-8.40453292e-02 -3.79210081e-03 9.96454717e-01 -4.88600941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.686296757 meters 0.07366134039425182 Centerline is valid? [True, True] Translation: X:41.67, Y:-2.74, Z:-4.89 [[ 9.79406024e-01 1.83699914e-01 8.37745844e-02 4.16686188e+01] [-1.83343815e-01 9.82975721e-01 -1.19907232e-02 -2.73604790e+00] [-8.45510773e-02 -3.61576542e-03 9.96412586e-01 -4.88506327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.716296757 meters 0.07340643539935064 Centerline is valid? [True, True] Translation: X:41.70, Y:-2.74, Z:-4.89 [[ 9.79721419e-01 1.81559979e-01 8.47461764e-02 4.16983681e+01] [-1.81187270e-01 9.83373759e-01 -1.21335278e-02 -2.74184370e+00] [-8.55401291e-02 -3.46745118e-03 9.96328692e-01 -4.88827347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.746296757 meters 0.07375650052164351 Centerline is valid? [True, True] Translation: X:41.73, Y:-2.74, Z:-4.89 [[ 9.79546866e-01 1.83029203e-01 8.35957471e-02 4.17300831e+01] [-1.82671889e-01 9.83101079e-01 -1.19686718e-02 -2.74476809e+00] [-8.43736856e-02 -3.54671811e-03 9.96427871e-01 -4.89264107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.776296757 meters 0.07389177525640174 Centerline is valid? [True, True] Translation: X:41.76, Y:-2.75, Z:-4.90 [[ 9.79397576e-01 1.83896317e-01 8.34417868e-02 4.17617306e+01] [-1.83543417e-01 9.82939002e-01 -1.19470688e-02 -2.74856240e+00] [-8.42152086e-02 -3.61426049e-03 9.96441035e-01 -4.89713250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.806296757 meters 0.0742370827242043 Centerline is valid? [True, True] Translation: X:41.79, Y:-2.75, Z:-4.90 [[ 9.78966419e-01 1.86614159e-01 8.24615463e-02 4.17919769e+01] [-1.86277121e-01 9.82426015e-01 -1.18304649e-02 -2.75291420e+00] [-8.32201006e-02 -3.77907155e-03 9.96524026e-01 -4.90050693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.836296757 meters 0.0749550934913205 Centerline is valid? [True, True] Translation: X:41.82, Y:-2.76, Z:-4.91 [[ 9.78640255e-01 1.88467387e-01 8.21175649e-02 4.18223506e+01] [-1.88138739e-01 9.82071668e-01 -1.17920986e-02 -2.75529678e+00] [-8.28677599e-02 -3.90927272e-03 9.96552885e-01 -4.90585988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.866296757 meters 0.07660886037510424 Centerline is valid? [True, True] Translation: X:41.85, Y:-2.76, Z:-4.91 [[ 9.78280108e-01 1.91483659e-01 7.93853777e-02 4.18518884e+01] [-1.91185374e-01 9.81487599e-01 -1.14125393e-02 -2.75583030e+00] [-8.01010785e-02 -4.01266290e-03 9.96778669e-01 -4.91211837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.896296757 meters 0.07681081864259577 Centerline is valid? [True, True] Translation: X:41.88, Y:-2.76, Z:-4.92 [[ 9.78218756e-01 1.92635485e-01 7.73281034e-02 4.18821391e+01] [-1.92356218e-01 9.81262224e-01 -1.11145212e-02 -2.75977886e+00] [-7.80201980e-02 -4.00210846e-03 9.96943746e-01 -4.91687136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.926296757 meters 0.07614974475048611 Centerline is valid? [True, True] Translation: X:41.91, Y:-2.77, Z:-4.92 [[ 9.78039082e-01 1.93754309e-01 7.68037868e-02 4.19133402e+01] [-1.93481731e-01 9.81041696e-01 -1.10458308e-02 -2.76589596e+00] [-7.74878945e-02 -4.05687541e-03 9.96985039e-01 -4.91921567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.956296757000004 meters 0.07631234823919357 Centerline is valid? [True, True] Translation: X:41.94, Y:-2.77, Z:-4.92 [[ 9.77808963e-01 1.95979261e-01 7.40389132e-02 4.19436688e+01] [-1.95730305e-01 9.80599662e-01 -1.06747952e-02 -2.77069907e+00] [-7.46945717e-02 -4.05374870e-03 9.97198219e-01 -4.92423227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.986296757 meters 0.07763801100155321 Centerline is valid? [True, True] Translation: X:41.97, Y:-2.77, Z:-4.93 [[ 9.77874959e-01 1.96282062e-01 7.23458115e-02 4.19734617e+01] [-1.96045363e-01 9.80539376e-01 -1.04282304e-02 -2.77393252e+00] [-7.29847914e-02 -3.98555548e-03 9.97325090e-01 -4.93140496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.016296757 meters 0.07740687527465395 Centerline is valid? [True, True] Translation: X:42.01, Y:-2.78, Z:-4.93 [[ 9.78011019e-01 1.95448477e-01 7.27622182e-02 4.20051687e+01] [-1.95205937e-01 9.80706076e-01 -1.04992943e-02 -2.78194796e+00] [-7.34104205e-02 -3.93519143e-03 9.97294051e-01 -4.93398163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.046296757 meters 0.07734248950079527 Centerline is valid? [True, True] Translation: X:42.04, Y:-2.79, Z:-4.94 [[ 9.78105455e-01 1.94982137e-01 7.27439709e-02 4.20360196e+01] [-1.94738441e-01 9.80799042e-01 -1.04965638e-02 -2.78910530e+00] [-7.33938594e-02 -3.89930117e-03 9.97295411e-01 -4.93722198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.076296757 meters 0.07602954744550446 Centerline is valid? [True, True] Translation: X:42.07, Y:-2.80, Z:-4.94 [[ 9.78152929e-01 1.94173537e-01 7.42528489e-02 4.20664597e+01] [-1.93915345e-01 9.80959470e-01 -1.07404251e-02 -2.79971799e+00] [-7.49245417e-02 -3.89298850e-03 9.97181607e-01 -4.93868910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.106296757 meters 0.07569778880845422 Centerline is valid? [True, True] Translation: X:42.10, Y:-2.81, Z:-4.94 [[ 9.78394208e-01 1.92159961e-01 7.62844839e-02 4.20956589e+01] [-1.91880913e-01 9.81356120e-01 -1.10399829e-02 -2.80959790e+00] [-7.69836879e-02 -3.83608112e-03 9.97024973e-01 -4.94068931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.136296757000004 meters 0.0753616380847905 Centerline is valid? [True, True] Translation: X:42.13, Y:-2.82, Z:-4.94 [[ 9.78399268e-01 1.91399500e-01 7.81095653e-02 4.21259236e+01] [-1.91104466e-01 9.81504601e-01 -1.13048890e-02 -2.81744496e+00] [-7.88286479e-02 -3.86639163e-03 9.96880683e-01 -4.94299094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.166296757 meters 0.07559758620639519 Centerline is valid? [True, True] Translation: X:42.16, Y:-2.82, Z:-4.95 [[ 9.78382299e-01 1.91181259e-01 7.88530475e-02 4.21566638e+01] [-1.90880247e-01 9.81547040e-01 -1.14078510e-02 -2.82430074e+00] [-7.95789427e-02 -3.89024978e-03 9.96820976e-01 -4.94646976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.196296757 meters 0.07559302790889598 Centerline is valid? [True, True] Translation: X:42.19, Y:-2.83, Z:-4.95 [[ 9.78298784e-01 1.91421750e-01 7.93044991e-02 4.21881066e+01] [-1.91116489e-01 9.81500078e-01 -1.14928454e-02 -2.83071748e+00] [-8.00373526e-02 -3.91296070e-03 9.96784185e-01 -4.95032005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.226296757 meters 0.07643618121890654 Centerline is valid? [True, True] Translation: X:42.22, Y:-2.83, Z:-4.96 [[ 9.78088917e-01 1.92417151e-01 7.94840240e-02 4.22186806e+01] [-1.92112125e-01 9.81305138e-01 -1.15394109e-02 -2.83494275e+00] [-8.02184617e-02 -3.98327484e-03 9.96769347e-01 -4.95552903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.256296757 meters 0.07676170775768902 Centerline is valid? [True, True] Translation: X:42.25, Y:-2.84, Z:-4.96 [[ 9.77890127e-01 1.92663666e-01 8.13118154e-02 4.22490444e+01] [-1.92343458e-01 9.81256395e-01 -1.18271261e-02 -2.84383680e+00] [-8.20663963e-02 -4.07416596e-03 9.96618537e-01 -4.95713313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.286296757 meters 0.07673819520675693 Centerline is valid? [True, True] Translation: X:42.28, Y:-2.85, Z:-4.96 [[ 9.77406060e-01 1.94895189e-01 8.18123393e-02 4.22800237e+01] [-1.94577663e-01 9.80814761e-01 -1.19137453e-02 -2.85121451e+00] [-8.25646816e-02 -4.27428691e-03 9.96576542e-01 -4.95965055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.316296757 meters 0.07733398347587878 Centerline is valid? [True, True] Translation: X:42.31, Y:-2.85, Z:-4.96 [[ 9.76758357e-01 1.97680863e-01 8.28576386e-02 4.23113242e+01] [-1.97365064e-01 9.80255794e-01 -1.20669037e-02 -2.85288469e+00] [-8.36070762e-02 -4.56675416e-03 9.96488335e-01 -4.96446186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.346296757 meters 0.07815688644668517 Centerline is valid? [True, True] Translation: X:42.34, Y:-2.85, Z:-4.97 [[ 9.76072539e-01 2.01137369e-01 8.26205615e-02 4.23423826e+01] [-2.00834011e-01 9.79551142e-01 -1.20524018e-02 -2.85316346e+00] [-8.33552537e-02 -4.82900027e-03 9.96508195e-01 -4.96846391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.376296757 meters 0.08007567572591556 Centerline is valid? [True, True] Translation: X:42.37, Y:-2.85, Z:-4.97 [[ 9.74506308e-01 2.07328749e-01 8.57452363e-02 4.23741848e+01] [-2.07023858e-01 9.78255641e-01 -1.25308694e-02 -2.84781598e+00] [-8.64787706e-02 -5.53989839e-03 9.96238291e-01 -4.97282812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.406296757 meters 0.08192803649600675 Centerline is valid? [True, True] Translation: X:42.40, Y:-2.85, Z:-4.98 [[ 9.73819359e-01 2.10353660e-01 8.61811625e-02 4.24045233e+01] [-2.10056978e-01 9.77607955e-01 -1.25997331e-02 -2.84696639e+00] [-8.69017899e-02 -5.83309050e-03 9.96199806e-01 -4.97663106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.436296757 meters 0.08191073917535335 Centerline is valid? [True, True] Translation: X:42.43, Y:-2.85, Z:-4.98 [[ 9.72978295e-01 2.14757221e-01 8.48090430e-02 4.24344255e+01] [-2.14486527e-01 9.76648248e-01 -1.23987728e-02 -2.85434496e+00] [-8.54913292e-02 -6.12666027e-03 9.96320077e-01 -4.97889190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.466296757 meters 0.0828275938783006 Centerline is valid? [True, True] Translation: X:42.47, Y:-2.86, Z:-4.98 [[ 9.72775969e-01 2.16085693e-01 8.37489557e-02 4.24662397e+01] [-2.15826086e-01 9.76354977e-01 -1.22498582e-02 -2.85684693e+00] [-8.44157288e-02 -6.15884163e-03 9.96411588e-01 -4.98241412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.496296757 meters 0.08259495351896871 Centerline is valid? [True, True] Translation: X:42.50, Y:-2.86, Z:-4.99 [[ 9.72408259e-01 2.17862020e-01 8.34165366e-02 4.24976412e+01] [-2.17610526e-01 9.75959357e-01 -1.22062571e-02 -2.86015294e+00] [-8.40704293e-02 -6.28285126e-03 9.96440008e-01 -4.98638285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.526296757 meters 0.08412562436970998 Centerline is valid? [True, True] Translation: X:42.53, Y:-2.85, Z:-4.99 [[ 9.72007209e-01 2.19776225e-01 8.30686205e-02 4.25287216e+01] [-2.19533848e-01 9.75529171e-01 -1.21542309e-02 -2.85430312e+00] [-8.37070735e-02 -6.42237384e-03 9.96469708e-01 -4.99349113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.556296757 meters 0.08425828147111596 Centerline is valid? [True, True] Translation: X:42.56, Y:-2.86, Z:-5.00 [[ 9.71935041e-01 2.20445650e-01 8.21339839e-02 4.25608822e+01] [-2.20209802e-01 9.75378316e-01 -1.20325840e-02 -2.85652382e+00] [-8.27642377e-02 -6.39181830e-03 9.96548657e-01 -4.99772084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.586296757 meters 0.08395179752390544 Centerline is valid? [True, True] Translation: X:42.59, Y:-2.86, Z:-5.00 [[ 9.72485145e-01 2.18509233e-01 8.07858829e-02 4.25906044e+01] [-2.18272132e-01 9.75815836e-01 -1.18630100e-02 -2.86233132e+00] [-8.14243210e-02 -6.09670586e-03 9.96660880e-01 -5.00112485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.616296757 meters 0.08432576053688216 Centerline is valid? [True, True] Translation: X:42.62, Y:-2.87, Z:-5.00 [[ 9.72840131e-01 2.17059081e-01 8.04203665e-02 4.26201722e+01] [-2.16819077e-01 9.76140355e-01 -1.18108096e-02 -2.86730917e+00] [-8.10652086e-02 -5.94664006e-03 9.96691060e-01 -5.00441252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.646296757 meters 0.08366391339608897 Centerline is valid? [True, True] Translation: X:42.65, Y:-2.87, Z:-5.01 [[ 9.73240500e-01 2.15351135e-01 8.01674321e-02 4.26507249e+01] [-2.15106811e-01 9.76519545e-01 -1.17745017e-02 -2.87343646e+00] [-8.08207165e-02 -5.78513875e-03 9.96711866e-01 -5.00802403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.676296757 meters 0.08257811280596312 Centerline is valid? [True, True] Translation: X:42.68, Y:-2.88, Z:-5.01 [[ 9.73971791e-01 2.11725497e-01 8.09398831e-02 4.26813461e+01] [-2.11463749e-01 9.77313504e-01 -1.18910693e-02 -2.87615564e+00] [-8.16212834e-02 -5.53428503e-03 9.96648051e-01 -5.01280693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.706296757000004 meters 0.08201619483115748 Centerline is valid? [True, True] Translation: X:42.71, Y:-2.88, Z:-5.02 [[ 9.74256514e-01 2.09582684e-01 8.30622853e-02 4.27125006e+01] [-2.09299160e-01 9.77775490e-01 -1.22045891e-02 -2.87931095e+00] [-8.37741373e-02 -5.49446613e-03 9.96469621e-01 -5.01699985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.736296757 meters 0.07818740592415654 Centerline is valid? [True, True] Translation: X:42.74, Y:-2.89, Z:-5.01 [[ 9.74804106e-01 2.05547083e-01 8.66449788e-02 4.27432619e+01] [-2.05222342e-01 9.78632513e-01 -1.27356139e-02 -2.89077678e+00] [-8.74113616e-02 -5.36675675e-03 9.96157845e-01 -5.01467616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.766296757 meters 0.07753925410048251 Centerline is valid? [True, True] Translation: X:42.77, Y:-2.90, Z:-5.02 [[ 9.75120432e-01 2.02999838e-01 8.90573339e-02 4.27732860e+01] [-2.02645618e-01 9.79164556e-01 -1.30967761e-02 -2.89664785e+00] [-8.98604283e-02 -5.27614447e-03 9.95940393e-01 -5.01623470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.796296757 meters 0.07535305557646463 Centerline is valid? [True, True] Translation: X:42.80, Y:-2.91, Z:-5.02 [[ 9.75623913e-01 2.00364699e-01 8.95095982e-02 4.28035304e+01] [-1.99995718e-01 9.79708327e-01 -1.31646119e-02 -2.90779982e+00] [-9.03310222e-02 -5.05782614e-03 9.95898953e-01 -5.01609057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.826296757 meters 0.07500807356896003 Centerline is valid? [True, True] Translation: X:42.83, Y:-2.91, Z:-5.02 [[ 9.76302588e-01 1.97838906e-01 8.77098899e-02 4.28348634e+01] [-1.97474311e-01 9.80223161e-01 -1.29015902e-02 -2.91229342e+00] [-8.85277021e-02 -4.72459416e-03 9.96062510e-01 -5.02011173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.856296757 meters 0.07480273386006125 Centerline is valid? [True, True] Translation: X:42.87, Y:-2.92, Z:-5.02 [[ 9.76492671e-01 1.97024659e-01 8.74262362e-02 4.28664680e+01] [-1.96659039e-01 9.80387581e-01 -1.28613449e-02 -2.91521750e+00] [-8.82455983e-02 -4.63415056e-03 9.96087968e-01 -5.02464996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.886296757000004 meters 0.07486940382794423 Centerline is valid? [True, True] Translation: X:42.90, Y:-2.92, Z:-5.03 [[ 9.76579724e-01 1.96994417e-01 8.65172960e-02 4.28992847e+01] [-1.96634430e-01 9.80393994e-01 -1.27482668e-02 -2.91607032e+00] [-8.73323747e-02 -4.56258027e-03 9.96168780e-01 -5.02820202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.916296757 meters 0.0749053039560663 Centerline is valid? [True, True] Translation: X:42.93, Y:-2.92, Z:-5.03 [[ 9.76497469e-01 1.97648646e-01 8.59517689e-02 4.29304710e+01] [-1.97293582e-01 9.80262299e-01 -1.26912231e-02 -2.91964136e+00] [-8.67636817e-02 -4.56478513e-03 9.96218463e-01 -5.03168480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.946296757 meters 0.07530510248167784 Centerline is valid? [True, True] Translation: X:42.96, Y:-2.92, Z:-5.04 [[ 9.76379908e-01 1.98275392e-01 8.58437172e-02 4.29611941e+01] [-1.97921879e-01 9.80135581e-01 -1.26954009e-02 -2.92159257e+00] [-8.66556672e-02 -4.59481547e-03 9.96227726e-01 -5.03617050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.976296757 meters 0.07568530210336724 Centerline is valid? [True, True] Translation: X:42.99, Y:-2.92, Z:-5.04 [[ 9.76389986e-01 1.98932069e-01 8.41939889e-02 4.29924938e+01] [-1.98592820e-01 9.80002745e-01 -1.24703981e-02 -2.92373019e+00] [-8.49911024e-02 -4.54434984e-03 9.96371347e-01 -5.04112227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.006296757 meters 0.07483329894189415 Centerline is valid? [True, True] Translation: X:43.02, Y:-2.93, Z:-5.04 [[ 9.76445214e-01 1.99554902e-01 8.20523265e-02 4.30242399e+01] [-1.99232938e-01 9.79876507e-01 -1.21765121e-02 -2.92992571e+00] [-8.28310298e-02 -4.45782910e-03 9.96553635e-01 -5.04374260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.036296757 meters 0.07609016744563707 Centerline is valid? [True, True] Translation: X:43.06, Y:-2.93, Z:-5.05 [[ 9.76308568e-01 2.00622394e-01 8.10693170e-02 4.30550915e+01] [-2.00311718e-01 9.79658342e-01 -1.20311277e-02 -2.92867618e+00] [-8.18339464e-02 -4.49304111e-03 9.96635850e-01 -5.05062522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.066296757 meters 0.0757399622827772 Centerline is valid? [True, True] Translation: X:43.09, Y:-2.93, Z:-5.05 [[ 9.76252771e-01 2.00619462e-01 8.17456879e-02 4.30865806e+01] [-2.00302032e-01 9.79658854e-01 -1.21501017e-02 -2.93261984e+00] [-8.25204338e-02 -4.51225698e-03 9.96579158e-01 -5.05468491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.096296757 meters 0.07616587626601762 Centerline is valid? [True, True] Translation: X:43.12, Y:-2.93, Z:-5.06 [[ 9.76221502e-01 2.00887486e-01 8.14604018e-02 4.31177498e+01] [-2.00571489e-01 9.79603991e-01 -1.21283836e-02 -2.93388833e+00] [-8.22353753e-02 -4.49864528e-03 9.96602782e-01 -5.05819385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.126296757 meters 0.07587817620955055 Centerline is valid? [True, True] Translation: X:43.15, Y:-2.94, Z:-5.06 [[ 9.76379470e-01 2.00125586e-01 8.14424920e-02 4.31493668e+01] [-1.99805613e-01 9.79760302e-01 -1.21436176e-02 -2.93926954e+00] [-8.22243692e-02 -4.41588810e-03 9.96604060e-01 -5.06182870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.156296757 meters 0.07484353213545883 Centerline is valid? [True, True] Translation: X:43.18, Y:-2.95, Z:-5.06 [[ 9.76523488e-01 1.99340286e-01 8.16414536e-02 4.31804999e+01] [-1.99014387e-01 9.79920714e-01 -1.21929688e-02 -2.94632043e+00] [-8.24327014e-02 -4.34110341e-03 9.96587179e-01 -5.06452081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.186296757 meters 0.07537196425263508 Centerline is valid? [True, True] Translation: X:43.21, Y:-2.95, Z:-5.07 [[ 9.77081801e-01 1.96936290e-01 8.07914121e-02 4.32109498e+01] [-1.96606758e-01 9.80407847e-01 -1.20928495e-02 -2.94855990e+00] [-8.15900553e-02 -4.06843444e-03 9.96657670e-01 -5.06942088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.216296757 meters 0.07415479992936079 Centerline is valid? [True, True] Translation: X:43.24, Y:-2.96, Z:-5.07 [[ 9.77060587e-01 1.96157044e-01 8.29157593e-02 4.32412560e+01] [-1.95806954e-01 9.80563892e-01 -1.24132858e-02 -2.95700039e+00] [-8.37391531e-02 -4.10694997e-03 9.96479246e-01 -5.06966779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.246296757 meters 0.07329909688061959 Centerline is valid? [True, True] Translation: X:43.27, Y:-2.96, Z:-5.07 [[ 9.77173923e-01 1.94440918e-01 8.55795153e-02 4.32711805e+01] [-1.94060933e-01 9.80905736e-01 -1.28176605e-02 -2.96184332e+00] [-8.64377151e-02 -4.08255702e-03 9.96248892e-01 -5.07099250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.276296757 meters 0.07310262279673169 Centerline is valid? [True, True] Translation: X:43.30, Y:-2.97, Z:-5.07 [[ 9.77251938e-01 1.93757538e-01 8.62361073e-02 4.33022798e+01] [-1.93369135e-01 9.81041069e-01 -1.29150212e-02 -2.96512793e+00] [-8.71035457e-02 -4.05417190e-03 9.96191014e-01 -5.07441759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.306296757 meters 0.072274074896295 Centerline is valid? [True, True] Translation: X:43.33, Y:-2.97, Z:-5.08 [[ 9.77196203e-01 1.93566502e-01 8.72902632e-02 4.33337950e+01] [-1.93166944e-01 9.81078683e-01 -1.30823884e-02 -2.97040912e+00] [-8.81709286e-02 -4.07753312e-03 9.96097014e-01 -5.07604536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.336296757 meters 0.07140480473370171 Centerline is valid? [True, True] Translation: X:43.37, Y:-2.98, Z:-5.08 [[ 9.77093261e-01 1.93155385e-01 8.93294781e-02 4.33659138e+01] [-1.92732786e-01 9.81159576e-01 -1.34149319e-02 -2.97623333e+00] [-9.02376391e-02 -4.10907958e-03 9.95911785e-01 -5.07716304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.366296757 meters 0.07251791129668134 Centerline is valid? [True, True] Translation: X:43.40, Y:-2.98, Z:-5.08 [[ 9.77037839e-01 1.93559530e-01 8.90604875e-02 4.33966325e+01] [-1.93140739e-01 9.81079842e-01 -1.33790212e-02 -2.97689571e+00] [-8.99650860e-02 -4.12939849e-03 9.95936359e-01 -5.08249386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.396296757 meters 0.07217273092656909 Centerline is valid? [True, True] Translation: X:43.43, Y:-2.98, Z:-5.08 [[ 9.76792044e-01 1.94627676e-01 8.94280223e-02 4.34284530e+01] [-1.94207972e-01 9.80868095e-01 -1.34552539e-02 -2.98103188e+00] [-9.03358587e-02 -4.22464985e-03 9.95902397e-01 -5.08439297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.426296757 meters 0.07135461611076968 Centerline is valid? [True, True] Translation: X:43.46, Y:-2.99, Z:-5.09 [[ 9.76708353e-01 1.95411741e-01 8.86286887e-02 4.34603226e+01] [-1.95000797e-01 9.80712137e-01 -1.33563881e-02 -2.98639021e+00] [-8.95292257e-02 -4.23736912e-03 9.95975182e-01 -5.08659294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.456296757000004 meters 0.07134925934182287 Centerline is valid? [True, True] Translation: X:43.49, Y:-2.99, Z:-5.09 [[ 9.76662081e-01 1.96459489e-01 8.68035086e-02 4.34921632e+01] [-1.96067084e-01 9.80502873e-01 -1.31078425e-02 -2.98871127e+00] [-8.76862496e-02 -4.21737809e-03 9.96139215e-01 -5.09093335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.486296757 meters 0.07265098994601439 Centerline is valid? [True, True] Translation: X:43.52, Y:-2.99, Z:-5.10 [[ 9.76364540e-01 1.99157448e-01 8.39559141e-02 4.35225051e+01] [-1.98799611e-01 9.79958052e-01 -1.26858710e-02 -2.98526853e+00] [-8.47997597e-02 -4.30436845e-03 9.96388716e-01 -5.09858748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.516296757 meters 0.07230053965874737 Centerline is valid? [True, True] Translation: X:43.56, Y:-2.99, Z:-5.10 [[ 9.76292030e-01 1.99464480e-01 8.40701640e-02 4.35551817e+01] [-1.99107497e-01 9.79895424e-01 -1.26949809e-02 -2.99071477e+00] [-8.49121668e-02 -4.34499122e-03 9.96378967e-01 -5.10202763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.546296757 meters 0.07212360963057421 Centerline is valid? [True, True] Translation: X:43.59, Y:-3.00, Z:-5.10 [[ 9.75852820e-01 2.00897662e-01 8.57403263e-02 4.35881435e+01] [-2.00529623e-01 9.79601743e-01 -1.29729089e-02 -2.99592102e+00] [-8.65976001e-02 -4.53382556e-03 9.96233055e-01 -5.10270278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.576296757 meters 0.07218357959612204 Centerline is valid? [True, True] Translation: X:43.62, Y:-3.00, Z:-5.10 [[ 9.75579448e-01 2.02017254e-01 8.62193118e-02 4.36195263e+01] [-2.01647144e-01 9.79371002e-01 -1.30716873e-02 -2.99984517e+00] [-8.70814003e-02 -4.63340844e-03 9.96190424e-01 -5.10498450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.606296757 meters 0.07218357959612204 Centerline is valid? [True, True] Translation: X:43.65, Y:-3.00, Z:-5.11 [[ 9.75521830e-01 2.02296622e-01 8.62162169e-02 4.36513872e+01] [-2.01925801e-01 9.79313315e-01 -1.30920636e-02 -3.00475999e+00] [-8.70811694e-02 -4.63768485e-03 9.96190424e-01 -5.10875053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.636296757000004 meters 0.07276844301521569 Centerline is valid? [True, True] Translation: X:43.68, Y:-3.01, Z:-5.11 [[ 9.75192177e-01 2.03661611e-01 8.67304250e-02 4.36819256e+01] [-2.03289340e-01 9.79029763e-01 -1.31972745e-02 -3.00602793e+00] [-8.75994456e-02 -4.76149195e-03 9.96144400e-01 -5.11341319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.666296757 meters 0.07254482526184121 Centerline is valid? [True, True] Translation: X:43.71, Y:-3.01, Z:-5.12 [[ 9.75225747e-01 2.04692570e-01 8.38790426e-02 4.37124578e+01] [-2.04346344e-01 9.78815162e-01 -1.27847802e-02 -3.00740762e+00] [-8.47190281e-02 -4.67232882e-03 9.96393926e-01 -5.11871438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.696296757 meters 0.07231837983610742 Centerline is valid? [True, True] Translation: X:43.75, Y:-3.01, Z:-5.12 [[ 9.75325681e-01 2.04564390e-01 8.30254526e-02 4.37450279e+01] [-2.04224027e-01 9.78842275e-01 -1.26628032e-02 -3.01116708e+00] [-8.38591816e-02 -4.60543509e-03 9.96466973e-01 -5.12364429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.726296757 meters 0.07197331890929592 Centerline is valid? [True, True] Translation: X:43.78, Y:-3.02, Z:-5.13 [[ 9.76064608e-01 2.01286726e-01 8.23500739e-02 4.37751850e+01] [-2.00937589e-01 9.79523115e-01 -1.25917545e-02 -3.01962897e+00] [-8.31983539e-02 -4.25685938e-03 9.96523915e-01 -5.12648247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.756296757 meters 0.07214292575390716 Centerline is valid? [True, True] Translation: X:43.80, Y:-3.03, Z:-5.13 [[ 9.76576789e-01 1.98885827e-01 8.21109158e-02 4.38047278e+01] [-1.98530010e-01 9.80014350e-01 -1.25581899e-02 -3.02720678e+00] [-8.29675218e-02 -4.03744417e-03 9.96544073e-01 -5.13059410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.786296757 meters 0.0712767285020026 Centerline is valid? [True, True] Translation: X:43.83, Y:-3.04, Z:-5.13 [[ 9.77247404e-01 1.95748719e-01 8.16697699e-02 4.38348069e+01] [-1.95385554e-01 9.80646926e-01 -1.24936544e-02 -3.03815179e+00] [-8.25348256e-02 -3.74770189e-03 9.96581134e-01 -5.13190056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.816296757 meters 0.07065123272354586 Centerline is valid? [True, True] Translation: X:43.86, Y:-3.05, Z:-5.14 [[ 9.78437017e-01 1.89019241e-01 8.32630219e-02 4.38635501e+01] [-1.88617122e-01 9.81968044e-01 -1.27413211e-02 -3.04505490e+00] [-8.41699816e-02 -3.23825135e-03 9.96446149e-01 -5.13744496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.846296757 meters 0.0702517866442109 Centerline is valid? [True, True] Translation: X:43.89, Y:-3.05, Z:-5.14 [[ 9.78779356e-01 1.86695791e-01 8.44727994e-02 4.38940322e+01] [-1.86273260e-01 9.82412937e-01 -1.29265131e-02 -3.05028591e+00] [-8.54004965e-02 -3.08281956e-03 9.96341935e-01 -5.14121573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.876296757 meters 0.06977858845926975 Centerline is valid? [True, True] Translation: X:43.92, Y:-3.05, Z:-5.15 [[ 9.79149807e-01 1.83562823e-01 8.70077290e-02 4.39245328e+01] [-1.83101906e-01 9.83003729e-01 -1.33176993e-02 -3.05497171e+00] [-8.79735565e-02 -2.89125839e-03 9.96118614e-01 -5.14546435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.906296757 meters 0.06957543312685545 Centerline is valid? [True, True] Translation: X:43.95, Y:-3.06, Z:-5.15 [[ 9.79280198e-01 1.82284145e-01 8.82200948e-02 4.39547203e+01] [-1.81805293e-01 9.83241859e-01 -1.35012127e-02 -3.06017693e+00] [-8.92027470e-02 -2.81741000e-03 9.96009504e-01 -5.14874973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.936296757 meters 0.06860626307908335 Centerline is valid? [True, True] Translation: X:43.99, Y:-3.07, Z:-5.15 [[ 9.79295903e-01 1.81418425e-01 8.98158671e-02 4.39855565e+01] [-1.80916655e-01 9.83402098e-01 -1.37650636e-02 -3.07159773e+00] [-9.08223483e-02 -2.76911581e-03 9.95863260e-01 -5.14765148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.966296757 meters 0.0688750842867099 Centerline is valid? [True, True] Translation: X:44.02, Y:-3.08, Z:-5.15 [[ 9.79189262e-01 1.80890444e-01 9.20165062e-02 4.40166826e+01] [-1.80359192e-01 9.83499369e-01 -1.41263027e-02 -3.07534487e+00] [-9.30534890e-02 -2.76369885e-03 9.95657275e-01 -5.15141163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.996296757 meters 0.06869405244084473 Centerline is valid? [True, True] Translation: X:44.05, Y:-3.08, Z:-5.15 [[ 9.78987456e-01 1.81990497e-01 9.19946740e-02 4.40485055e+01] [-1.81462177e-01 9.83296174e-01 -1.41460857e-02 -3.08053389e+00] [-9.30324642e-02 -2.84471339e-03 9.95659012e-01 -5.15450133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.026296757 meters 0.06916266539357067 Centerline is valid? [True, True] Translation: X:44.08, Y:-3.08, Z:-5.16 [[ 9.78493336e-01 1.84525661e-01 9.22012550e-02 4.40803584e+01] [-1.84003660e-01 9.82822913e-01 -1.42047152e-02 -3.07968423e+00] [-9.32386405e-02 -3.06614919e-03 9.95639068e-01 -5.16175215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.056296757 meters 0.06970122050548852 Centerline is valid? [True, True] Translation: X:44.11, Y:-3.08, Z:-5.17 [[ 9.78081790e-01 1.87167106e-01 9.12386268e-02 4.41117844e+01] [-1.86667154e-01 9.82322612e-01 -1.40591419e-02 -3.08129555e+00] [-9.22571751e-02 -3.28026412e-03 9.95729809e-01 -5.16617205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.086296757 meters 0.06982638965313163 Centerline is valid? [True, True] Translation: X:44.14, Y:-3.08, Z:-5.17 [[ 9.77595161e-01 1.90218212e-01 9.01372966e-02 4.41429129e+01] [-1.89740851e-01 9.81735598e-01 -1.39149011e-02 -3.08435825e+00] [-9.11378604e-02 -3.49958745e-03 9.95832136e-01 -5.17035830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.116296757 meters 0.07172940473258706 Centerline is valid? [True, True] Translation: X:44.17, Y:-3.08, Z:-5.17 [[ 9.76275577e-01 1.96580591e-01 9.07858390e-02 4.41736320e+01] [-1.96123330e-01 9.80479019e-01 -1.40190188e-02 -3.08067422e+00] [-9.17694774e-02 -4.11879533e-03 9.95771760e-01 -5.17403681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.146296757 meters 0.07343477891009687 Centerline is valid? [True, True] Translation: X:44.20, Y:-3.08, Z:-5.18 [[ 9.74973751e-01 2.02845829e-01 9.09931505e-02 4.42044169e+01] [-2.02413634e-01 9.79199315e-01 -1.40506978e-02 -3.07744802e+00] [-9.19505561e-02 -4.71919268e-03 9.95752391e-01 -5.17863494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.176296757 meters 0.07405508278851504 Centerline is valid? [True, True] Translation: X:44.24, Y:-3.08, Z:-5.18 [[ 9.74611197e-01 2.05339602e-01 8.92673688e-02 4.42354016e+01] [-2.04933526e-01 9.78678745e-01 -1.37899683e-02 -3.07826525e+00] [-9.01957031e-02 -4.85401914e-03 9.95912232e-01 -5.18350926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.206296757000004 meters 0.07511066702899111 Centerline is valid? [True, True] Translation: X:44.27, Y:-3.08, Z:-5.19 [[ 9.74360991e-01 2.07661621e-01 8.65870113e-02 4.42652130e+01] [-2.07288227e-01 9.78188396e-01 -1.33810488e-02 -3.07843026e+00] [-8.74771400e-02 -4.91049608e-03 9.96154424e-01 -5.18906059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.236296757 meters 0.07340658497718625 Centerline is valid? [True, True] Translation: X:44.30, Y:-3.09, Z:-5.19 [[ 9.74023285e-01 2.09435371e-01 8.61131001e-02 4.42959387e+01] [-2.09073476e-01 9.77809463e-01 -1.33017328e-02 -3.08636117e+00] [-8.69880575e-02 -5.04776768e-03 9.96196566e-01 -5.19176727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.266296757 meters 0.07703067884424043 Centerline is valid? [True, True] Translation: X:44.33, Y:-3.08, Z:-5.20 [[ 9.73763777e-01 2.11710602e-01 8.34429581e-02 4.43263166e+01] [-2.11377086e-01 9.77319283e-01 -1.29130583e-02 -3.08055935e+00] [-8.42842433e-02 -5.06366090e-03 9.96428886e-01 -5.20047795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.296296757 meters 0.07426277753615372 Centerline is valid? [True, True] Translation: X:44.36, Y:-3.10, Z:-5.20 [[ 9.74112168e-01 2.10065160e-01 8.35350980e-02 4.43556304e+01] [-2.09724202e-01 9.77675015e-01 -1.29354279e-02 -3.09857031e+00] [-8.43874608e-02 -4.91877401e-03 9.96420876e-01 -5.19915629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.326296757 meters 0.07382947600121392 Centerline is valid? [True, True] Translation: X:44.39, Y:-3.11, Z:-5.20 [[ 9.74301428e-01 2.09172291e-01 8.35684143e-02 4.43864311e+01] [-2.08828110e-01 9.77866790e-01 -1.29368340e-02 -3.10791136e+00] [-8.44248042e-02 -4.84705814e-03 9.96418064e-01 -5.20143915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.356296757 meters 0.0738486499219278 Centerline is valid? [True, True] Translation: X:44.42, Y:-3.11, Z:-5.21 [[ 9.74475786e-01 2.07826986e-01 8.48816088e-02 4.44158510e+01] [-2.07464292e-01 9.78153940e-01 -1.31695841e-02 -3.11360052e+00] [-8.57642750e-02 -4.77646205e-03 9.96304007e-01 -5.20523603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.386296757000004 meters 0.07282504403471841 Centerline is valid? [True, True] Translation: X:44.45, Y:-3.12, Z:-5.21 [[ 9.74836690e-01 2.04886265e-01 8.78353417e-02 4.44460210e+01] [-2.04485896e-01 9.78774624e-01 -1.36291765e-02 -3.11960800e+00] [-8.87634346e-02 -4.67486718e-03 9.96041765e-01 -5.20926042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.416296757 meters 0.07274461194759879 Centerline is valid? [True, True] Translation: X:44.48, Y:-3.12, Z:-5.21 [[ 9.75034324e-01 2.03681324e-01 8.84419876e-02 4.44771058e+01] [-2.03270245e-01 9.79026460e-01 -1.37258271e-02 -3.12444961e+00] [-8.93827406e-02 -4.59447195e-03 9.95986755e-01 -5.21286745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.446296757 meters 0.07222996062500334 Centerline is valid? [True, True] Translation: X:44.51, Y:-3.13, Z:-5.22 [[ 9.75474054e-01 2.00759914e-01 9.02542378e-02 4.45074541e+01] [-2.00318867e-01 9.79630543e-01 -1.40124890e-02 -3.13469623e+00] [-9.12289541e-02 -4.41080726e-03 9.95820176e-01 -5.21515080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.476296757 meters 0.07229727290828195 Centerline is valid? [True, True] Translation: X:44.54, Y:-3.14, Z:-5.22 [[ 9.75770536e-01 1.99085562e-01 9.07568220e-02 4.45365057e+01] [-1.98631992e-01 9.79972791e-01 -1.40946758e-02 -3.14278331e+00] [-9.17452626e-02 -4.27403902e-03 9.95773337e-01 -5.21798438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.506296757 meters 0.07198358407245152 Centerline is valid? [True, True] Translation: X:44.57, Y:-3.15, Z:-5.22 [[ 9.76089291e-01 1.97050756e-01 9.17643455e-02 4.45667947e+01] [-1.96577979e-01 9.80384601e-01 -1.42524479e-02 -3.15180065e+00] [-9.27728068e-02 -4.12718780e-03 9.95678750e-01 -5.21961154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.536296757 meters 0.0713933277468233 Centerline is valid? [True, True] Translation: X:44.60, Y:-3.16, Z:-5.22 [[ 9.76795877e-01 1.93392281e-01 9.20284793e-02 4.45967705e+01] [-1.92900273e-01 9.81114205e-01 -1.42969119e-02 -3.16006593e+00] [-9.30553608e-02 -3.78715420e-03 9.95653734e-01 -5.22287996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.566296757 meters 0.0716810446612903 Centerline is valid? [True, True] Translation: X:44.63, Y:-3.16, Z:-5.23 [[ 9.77064186e-01 1.92470107e-01 9.11089114e-02 4.46280107e+01] [-1.91984102e-01 9.81295996e-01 -1.41518053e-02 -3.16207304e+00] [-9.21286094e-02 -3.66424038e-03 9.95740374e-01 -5.22805221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.596296757 meters 0.07188804028977765 Centerline is valid? [True, True] Translation: X:44.66, Y:-3.17, Z:-5.23 [[ 9.77208532e-01 1.91262915e-01 9.20976791e-02 4.46589050e+01] [-1.90758737e-01 9.81532364e-01 -1.43290880e-02 -3.16543032e+00] [-9.31374758e-02 -3.56592992e-03 9.95646873e-01 -5.23312000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.626296757 meters 0.0716273825122413 Centerline is valid? [True, True] Translation: X:44.69, Y:-3.17, Z:-5.24 [[ 9.77231895e-01 1.91287029e-01 9.17992140e-02 4.46905021e+01] [-1.90784244e-01 9.81527774e-01 -1.43038640e-02 -3.17341835e+00] [-9.28396218e-02 -3.53565159e-03 9.95674798e-01 -5.23556847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.656296757 meters 0.07155261843868764 Centerline is valid? [True, True] Translation: X:44.72, Y:-3.18, Z:-5.24 [[ 9.77122588e-01 1.92074026e-01 9.13182197e-02 4.47219351e+01] [-1.91577459e-01 9.81373965e-01 -1.42554872e-02 -3.18172536e+00] [-9.23554321e-02 -3.56515395e-03 9.95719722e-01 -5.23844199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.686296757 meters 0.07199412641337925 Centerline is valid? [True, True] Translation: X:44.75, Y:-3.19, Z:-5.24 [[ 9.76892443e-01 1.93058236e-01 9.17042659e-02 4.47520736e+01] [-1.92559633e-01 9.81180507e-01 -1.43387916e-02 -3.18519110e+00] [-9.27466599e-02 -3.65108256e-03 9.95683045e-01 -5.24327854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.716296757 meters 0.07189818366203343 Centerline is valid? [True, True] Translation: X:44.78, Y:-3.19, Z:-5.25 [[ 9.76685940e-01 1.93897548e-01 9.21320544e-02 4.47830841e+01] [-1.93395828e-01 9.81014710e-01 -1.44288611e-02 -3.18980577e+00] [-9.31806215e-02 -3.72548918e-03 9.95642251e-01 -5.24721628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.746296757 meters 0.07252992169067177 Centerline is valid? [True, True] Translation: X:44.82, Y:-3.19, Z:-5.25 [[ 9.75776465e-01 1.97390261e-01 9.43259015e-02 4.48154897e+01] [-1.96878116e-01 9.80316286e-01 -1.47982220e-02 -3.18959129e+00] [-9.53902423e-02 -4.13094900e-03 9.95431382e-01 -5.25223268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.776296757000004 meters 0.0731111360582746 Centerline is valid? [True, True] Translation: X:44.85, Y:-3.19, Z:-5.26 [[ 9.75356644e-01 1.99761365e-01 9.36739815e-02 4.48469629e+01] [-1.99266840e-01 9.79835015e-01 -1.46993205e-02 -3.19127441e+00] [-9.47214034e-02 -4.32903837e-03 9.95494407e-01 -5.25694411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.806296757 meters 0.07495559744191263 Centerline is valid? [True, True] Translation: X:44.88, Y:-3.19, Z:-5.26 [[ 9.74794345e-01 2.03725975e-01 9.09489552e-02 4.48773092e+01] [-2.03274789e-01 9.79017365e-01 -1.42954130e-02 -3.19095205e+00] [-9.19529535e-02 -4.55254191e-03 9.95752946e-01 -5.26421386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.836296757 meters 0.07525561048987721 Centerline is valid? [True, True] Translation: X:44.91, Y:-3.20, Z:-5.27 [[ 9.74672968e-01 2.05257880e-01 8.87795505e-02 4.49070996e+01] [-2.04833920e-01 9.78697208e-01 -1.39585027e-02 -3.19721549e+00] [-8.97533909e-02 -4.58008817e-03 9.95953489e-01 -5.26869013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.866296757 meters 0.0758558218457279 Centerline is valid? [True, True] Translation: X:44.94, Y:-3.21, Z:-5.27 [[ 9.75048989e-01 2.05194639e-01 8.47031764e-02 4.49372151e+01] [-2.04807544e-01 9.78711511e-01 -1.33285023e-02 -3.20727594e+00] [-8.56349109e-02 -4.35190687e-03 9.96317080e-01 -5.27451576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.896296757 meters 0.07584547434049152 Centerline is valid? [True, True] Translation: X:44.97, Y:-3.22, Z:-5.28 [[ 9.75143108e-01 2.04974517e-01 8.41508491e-02 4.49691103e+01] [-2.04590176e-01 9.78757920e-01 -1.32587101e-02 -3.21506311e+00] [-8.50810078e-02 -4.28729728e-03 9.96364813e-01 -5.27860343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.926296757 meters 0.075376466431863 Centerline is valid? [True, True] Translation: X:45.00, Y:-3.22, Z:-5.28 [[ 9.75299090e-01 2.03006809e-01 8.70627340e-02 4.49991540e+01] [-2.02584816e-01 9.79168197e-01 -1.37489844e-02 -3.22400980e+00] [-8.80401977e-02 -4.22821599e-03 9.96107949e-01 -5.28199912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.956296757000004 meters 0.07487260199860316 Centerline is valid? [True, True] Translation: X:45.03, Y:-3.23, Z:-5.28 [[ 9.75251258e-01 2.02301655e-01 8.92133648e-02 4.50299577e+01] [-2.01855379e-01 9.79313966e-01 -1.40912050e-02 -3.23170847e+00] [-9.02185682e-02 -4.26573216e-03 9.95912854e-01 -5.28367280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.986296757 meters 0.07353318228083439 Centerline is valid? [True, True] Translation: X:45.06, Y:-3.24, Z:-5.28 [[ 9.74959555e-01 2.01889650e-01 9.32439617e-02 4.50607765e+01] [-2.01399600e-01 9.79398330e-01 -1.47346939e-02 -3.24267223e+00] [-9.42977626e-02 -4.41356599e-03 9.95534255e-01 -5.28399538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.016296757 meters 0.07343065777211959 Centerline is valid? [True, True] Translation: X:45.09, Y:-3.25, Z:-5.29 [[ 9.74874802e-01 2.00681001e-01 9.66760400e-02 4.50909809e+01] [-2.00147422e-01 9.79646545e-01 -1.52858131e-02 -3.25350140e+00] [-9.77759208e-02 -4.44770608e-03 9.95198516e-01 -5.28582893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.046296757 meters 0.07469642060653936 Centerline is valid? [True, True] Translation: X:45.12, Y:-3.26, Z:-5.29 [[ 9.74999157e-01 2.00667918e-01 9.54412458e-02 4.51217688e+01] [-2.00147886e-01 9.79649487e-01 -1.50899413e-02 -3.25726397e+00] [-9.65270346e-02 -4.38968355e-03 9.95320683e-01 -5.29118095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.076296757 meters 0.07406974572012776 Centerline is valid? [True, True] Translation: X:45.15, Y:-3.27, Z:-5.30 [[ 9.75553078e-01 1.99665788e-01 9.18137470e-02 4.51516973e+01] [-1.99178056e-01 9.79855464e-01 -1.45386526e-02 -3.27044385e+00] [-9.28670731e-02 -4.10405633e-03 9.95670058e-01 -5.29653700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.106296757 meters 0.07428020897107937 Centerline is valid? [True, True] Translation: X:45.18, Y:-3.28, Z:-5.30 [[ 9.75666329e-01 1.99610142e-01 9.07248858e-02 4.51822047e+01] [-1.99131393e-01 9.79867128e-01 -1.43909864e-02 -3.27763093e+00] [-9.17709201e-02 -4.02537198e-03 9.95772009e-01 -5.30150234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.136296757000004 meters 0.07441109742313015 Centerline is valid? [True, True] Translation: X:45.21, Y:-3.29, Z:-5.31 [[ 9.75702144e-01 1.99467307e-01 9.06538403e-02 4.52128829e+01] [-1.98987801e-01 9.79896321e-01 -1.43894214e-02 -3.28578298e+00] [-9.17015837e-02 -3.99921896e-03 9.95778502e-01 -5.30673121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.166296757 meters 0.07400552433215239 Centerline is valid? [True, True] Translation: X:45.24, Y:-3.29, Z:-5.31 [[ 9.75721427e-01 1.99124081e-01 9.11992171e-02 4.52438381e+01] [-1.98635204e-01 9.79966249e-01 -1.44985243e-02 -3.29330896e+00] [-9.22591600e-02 -3.96885428e-03 9.95727119e-01 -5.30985858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.196296757 meters 0.07408539511866762 Centerline is valid? [True, True] Translation: X:45.27, Y:-3.30, Z:-5.31 [[ 9.75654166e-01 1.99210045e-01 9.17295231e-02 4.52743768e+01] [-1.98713640e-01 9.79948744e-01 -1.46064491e-02 -3.30044719e+00] [-9.27999824e-02 -3.97706453e-03 9.95676828e-01 -5.31248262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.226296757 meters 0.07428190763758952 Centerline is valid? [True, True] Translation: X:45.31, Y:-3.31, Z:-5.32 [[ 9.75471358e-01 1.99476379e-01 9.30849336e-02 4.53059186e+01] [-1.98964369e-01 9.79894303e-01 -1.48436918e-02 -3.30647497e+00] [-9.41743620e-02 -4.04098893e-03 9.95547518e-01 -5.31526153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.256296757 meters 0.07516949210458317 Centerline is valid? [True, True] Translation: X:45.34, Y:-3.31, Z:-5.32 [[ 9.75303209e-01 2.00165884e-01 9.33663173e-02 4.53362783e+01] [-1.99651739e-01 9.79753453e-01 -1.49115257e-02 -3.30907145e+00] [-9.44607505e-02 -4.09748878e-03 9.95520154e-01 -5.31896141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.286296757 meters 0.0746220649547045 Centerline is valid? [True, True] Translation: X:45.37, Y:-3.32, Z:-5.32 [[ 9.74645127e-01 2.02873244e-01 9.43892140e-02 4.53677479e+01] [-2.02357816e-01 9.79195205e-01 -1.51018118e-02 -3.31588699e+00] [-9.54892193e-02 -4.38148794e-03 9.95420821e-01 -5.32120203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.316296757 meters 0.07496846891279585 Centerline is valid? [True, True] Translation: X:45.40, Y:-3.32, Z:-5.33 [[ 9.74326363e-01 2.04619517e-01 9.39094909e-02 4.53992684e+01] [-2.04116745e-01 9.78831139e-01 -1.50318046e-02 -3.31942557e+00] [-9.49973345e-02 -4.52261610e-03 9.95467253e-01 -5.32610656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.346296757 meters 0.07625199412392482 Centerline is valid? [True, True] Translation: X:45.43, Y:-3.32, Z:-5.33 [[ 9.73938707e-01 2.08434696e-01 8.94336162e-02 4.54288352e+01] [-2.07994049e-01 9.78025222e-01 -1.43227404e-02 -3.32191018e+00] [-9.04536884e-02 -4.65218870e-03 9.95889797e-01 -5.33324915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.376296757 meters 0.07736707170154683 Centerline is valid? [True, True] Translation: X:45.46, Y:-3.32, Z:-5.34 [[ 9.73709411e-01 2.10182513e-01 8.78253581e-02 4.54582899e+01] [-2.09764515e-01 9.77650744e-01 -1.40666458e-02 -3.32373522e+00] [-8.88190897e-02 -4.72581821e-03 9.96036564e-01 -5.33964906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.406296757 meters 0.07887315716950112 Centerline is valid? [True, True] Translation: X:45.49, Y:-3.32, Z:-5.35 [[ 9.73013524e-01 2.14057814e-01 8.61622562e-02 4.54876825e+01] [-2.13670640e-01 9.76808283e-01 -1.37998145e-02 -3.32429404e+00] [-8.71179638e-02 -4.98293830e-03 9.96185540e-01 -5.34671401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.436296757 meters 0.07702355740269984 Centerline is valid? [True, True] Translation: X:45.52, Y:-3.34, Z:-5.35 [[ 9.72597091e-01 2.15508297e-01 8.72414589e-02 4.55190401e+01] [-2.15116919e-01 9.76488299e-01 -1.39754740e-02 -3.33592822e+00] [-8.82020944e-02 -5.17460842e-03 9.96089160e-01 -5.34595608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.466296757 meters 0.07953242128627426 Centerline is valid? [True, True] Translation: X:45.55, Y:-3.34, Z:-5.35 [[ 9.72432954e-01 2.16154897e-01 8.74711927e-02 4.55502639e+01] [-2.15762002e-01 9.76345106e-01 -1.40354201e-02 -3.33563520e+00] [-8.84358957e-02 -5.22445458e-03 9.96068169e-01 -5.35136203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.496296757 meters 0.07953242128627426 Centerline is valid? [True, True] Translation: X:45.58, Y:-3.34, Z:-5.36 [[ 9.72375064e-01 2.16416411e-01 8.74681169e-02 4.55820840e+01] [-2.16022852e-01 9.76287149e-01 -1.40545585e-02 -3.34085881e+00] [-8.84356356e-02 -5.22880986e-03 9.96068169e-01 -5.35512896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.526296757000004 meters 0.07706349313615787 Centerline is valid? [True, True] Translation: X:45.61, Y:-3.35, Z:-5.35 [[ 9.72225485e-01 2.16070629e-01 8.99504856e-02 4.56125854e+01] [-2.15650120e-01 9.76363266e-01 -1.44844415e-02 -3.35381028e+00] [-9.09540123e-02 -5.31568986e-03 9.95840907e-01 -5.35335969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.556296757 meters 0.07749093364761536 Centerline is valid? [True, True] Translation: X:45.64, Y:-3.36, Z:-5.36 [[ 9.72186688e-01 2.16021536e-01 9.04861287e-02 4.56430614e+01] [-2.15595729e-01 9.76373984e-01 -1.45714063e-02 -3.35723925e+00] [-9.14960395e-02 -5.34229559e-03 9.95791110e-01 -5.35802380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.586296757 meters 0.07776864649722552 Centerline is valid? [True, True] Translation: X:45.67, Y:-3.36, Z:-5.36 [[ 9.72347482e-01 2.15971461e-01 8.88633869e-02 4.56736056e+01] [-2.15558533e-01 9.76385729e-01 -1.43327323e-02 -3.36262344e+00] [-8.98604040e-02 -5.21886511e-03 9.95940697e-01 -5.36320737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.616296757 meters 0.0771739426220998 Centerline is valid? [True, True] Translation: X:45.70, Y:-3.37, Z:-5.37 [[ 9.72678014e-01 2.14779369e-01 8.81323117e-02 4.57048700e+01] [-2.14367556e-01 9.76649498e-01 -1.42235461e-02 -3.36961874e+00] [-8.91293023e-02 -5.05777769e-03 9.96007222e-01 -5.36710748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.646296757 meters 0.0770057923980422 Centerline is valid? [True, True] Translation: X:45.73, Y:-3.38, Z:-5.37 [[ 9.73276293e-01 2.12197091e-01 8.77818433e-02 4.57343506e+01] [-2.11775652e-01 9.77215224e-01 -1.41943480e-02 -3.37783214e+00] [-8.87937530e-02 -4.77503466e-03 9.96038588e-01 -5.37228535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.676296757 meters 0.07727122412272999 Centerline is valid? [True, True] Translation: X:45.76, Y:-3.38, Z:-5.38 [[ 9.73641090e-01 2.10701223e-01 8.73385505e-02 4.57644209e+01] [-2.10278220e-01 9.77539604e-01 -1.41206253e-02 -3.38405274e+00] [-8.83521251e-02 -4.61697389e-03 9.96078604e-01 -5.37774887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.706296757000004 meters 0.07491529812789803 Centerline is valid? [True, True] Translation: X:45.79, Y:-3.40, Z:-5.38 [[ 9.74293776e-01 2.07372538e-01 8.80242544e-02 4.57944293e+01] [-2.06927138e-01 9.78252485e-01 -1.42560498e-02 -3.39694958e+00] [-8.90662589e-02 -4.32502643e-03 9.96016313e-01 -5.37941068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.736296757 meters 0.07401143632622759 Centerline is valid? [True, True] Translation: X:45.83, Y:-3.40, Z:-5.38 [[ 9.74528339e-01 2.05663494e-01 8.94261953e-02 4.58253500e+01] [-2.05196125e-01 9.78613627e-01 -1.44885851e-02 -3.40370534e+00] [-9.04934664e-02 -4.23037193e-03 9.95888064e-01 -5.38132298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.766296757 meters 0.0738618051638103 Centerline is valid? [True, True] Translation: X:45.86, Y:-3.41, Z:-5.38 [[ 9.74509585e-01 2.04569446e-01 9.20999997e-02 4.58561388e+01] [-2.04068305e-01 9.78842836e-01 -1.49274455e-02 -3.40834406e+00] [-9.32051242e-02 -4.24775209e-03 9.95637867e-01 -5.38466226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.796296757 meters 0.07320162028762209 Centerline is valid? [True, True] Translation: X:45.89, Y:-3.41, Z:-5.38 [[ 9.74424385e-01 2.03474376e-01 9.53692679e-02 4.58873454e+01] [-2.02931433e-01 9.79070882e-01 -1.54609517e-02 -3.41363330e+00] [-9.65191807e-02 -4.28789388e-03 9.95321888e-01 -5.38437663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.826296757 meters 0.07331335703254292 Centerline is valid? [True, True] Translation: X:45.92, Y:-3.42, Z:-5.39 [[ 9.74242375e-01 2.04145710e-01 9.57931288e-02 4.59201573e+01] [-2.03601264e-01 9.78930737e-01 -1.55285799e-02 -3.41802553e+00] [-9.69449312e-02 -4.37500155e-03 9.95280131e-01 -5.38706855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.856296757 meters 0.07329241051278153 Centerline is valid? [True, True] Translation: X:45.95, Y:-3.42, Z:-5.39 [[ 9.74354068e-01 2.03998605e-01 9.49669356e-02 4.59515694e+01] [-2.03460195e-01 9.78961754e-01 -1.54218243e-02 -3.42140487e+00] [-9.61150285e-02 -4.29567404e-03 9.95360964e-01 -5.38989255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.886296757000004 meters 0.07358719617502725 Centerline is valid? [True, True] Translation: X:45.98, Y:-3.42, Z:-5.39 [[ 9.74334980e-01 2.04384574e-01 9.43307629e-02 4.59828163e+01] [-2.03852725e-01 9.78881317e-01 -1.53438834e-02 -3.42438945e+00] [-9.54746745e-02 -4.27950077e-03 9.95422660e-01 -5.39495378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.916296757 meters 0.07383398280419512 Centerline is valid? [True, True] Translation: X:46.01, Y:-3.43, Z:-5.40 [[ 9.74542802e-01 2.04507756e-01 9.18852866e-02 4.60137909e+01] [-2.04001609e-01 9.78856115e-01 -1.49683122e-02 -3.42712407e+00] [-9.30036106e-02 -4.15748539e-03 9.95657091e-01 -5.40113599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.946296757 meters 0.07437349348704239 Centerline is valid? [True, True] Translation: X:46.05, Y:-3.43, Z:-5.41 [[ 9.74969174e-01 2.03856334e-01 8.87564339e-02 4.60454706e+01] [-2.03379688e-01 9.78992902e-01 -1.44775666e-02 -3.42907563e+00] [-8.98432625e-02 -3.93607473e-03 9.95948139e-01 -5.40903957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.976296757 meters 0.07426682467086396 Centerline is valid? [True, True] Translation: X:46.08, Y:-3.43, Z:-5.41 [[ 9.75192840e-01 2.02957668e-01 8.83578552e-02 4.60765506e+01] [-2.02479698e-01 9.79180082e-01 -1.44339686e-02 -3.43462865e+00] [-8.94477365e-02 -3.81476897e-03 9.95984212e-01 -5.41282494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.006296757 meters 0.07401866791365896 Centerline is valid? [True, True] Translation: X:46.11, Y:-3.44, Z:-5.42 [[ 9.75288951e-01 2.02508835e-01 8.83268556e-02 4.61080647e+01] [-2.02027441e-01 9.79273251e-01 -1.44503536e-02 -3.44073313e+00] [-8.94224513e-02 -3.75117840e-03 9.95986724e-01 -5.41518774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.036296757 meters 0.07451906791484508 Centerline is valid? [True, True] Translation: X:46.14, Y:-3.44, Z:-5.42 [[ 9.75076235e-01 2.03518686e-01 8.83542948e-02 4.61385839e+01] [-2.03038911e-01 9.79063607e-01 -1.44794562e-02 -3.44238074e+00] [-8.94513144e-02 -3.82078615e-03 9.95983867e-01 -5.41947000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.066296757 meters 0.07411454873532611 Centerline is valid? [True, True] Translation: X:46.17, Y:-3.45, Z:-5.42 [[ 9.74777879e-01 2.06044409e-01 8.57542275e-02 4.61693246e+01] [-2.05601545e-01 9.78534770e-01 -1.40608788e-02 -3.44594200e+00] [-8.68106588e-02 -3.92496811e-03 9.96217097e-01 -5.42183687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.096296757 meters 0.07482526713101592 Centerline is valid? [True, True] Translation: X:46.20, Y:-3.45, Z:-5.43 [[ 9.74494747e-01 2.07714810e-01 8.49384861e-02 4.62000486e+01] [-2.07284992e-01 9.78181185e-01 -1.39463657e-02 -3.44685603e+00] [-8.59820957e-02 -4.01581330e-03 9.96288589e-01 -5.42682315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.126296757 meters 0.07492479924596221 Centerline is valid? [True, True] Translation: X:46.23, Y:-3.45, Z:-5.43 [[ 9.74198460e-01 2.09171090e-01 8.47632928e-02 4.62311918e+01] [-2.08747898e-01 9.77870345e-01 -1.39249472e-02 -3.45072649e+00] [-8.58002068e-02 -4.12849711e-03 9.96303809e-01 -5.42986139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.156296757 meters 0.07567074156537054 Centerline is valid? [True, True] Translation: X:46.26, Y:-3.46, Z:-5.43 [[ 9.73917514e-01 2.10903618e-01 8.36919299e-02 4.62623226e+01] [-2.10495836e-01 9.77497803e-01 -1.37676621e-02 -3.45518867e+00] [-8.47123273e-02 -4.20823555e-03 9.96396564e-01 -5.43290122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.186296757 meters 0.0745921374466729 Centerline is valid? [True, True] Translation: X:46.29, Y:-3.47, Z:-5.43 [[ 9.73722171e-01 2.11640264e-01 8.41043000e-02 4.62942629e+01] [-2.11229714e-01 9.77338278e-01 -1.38527485e-02 -3.46563331e+00] [-8.51301511e-02 -4.27659886e-03 9.96360662e-01 -5.43267922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.216296757 meters 0.07461070640709497 Centerline is valid? [True, True] Translation: X:46.33, Y:-3.47, Z:-5.44 [[ 9.73594095e-01 2.11733873e-01 8.53422814e-02 4.63256157e+01] [-2.11309220e-01 9.77317800e-01 -1.40829900e-02 -3.47040445e+00] [-8.63883768e-02 -4.32249497e-03 9.96252159e-01 -5.43684040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.246296757 meters 0.0749719315534683 Centerline is valid? [True, True] Translation: X:46.36, Y:-3.47, Z:-5.44 [[ 9.73676705e-01 2.11289550e-01 8.55008821e-02 4.63562162e+01] [-2.10859672e-01 9.77414191e-01 -1.41314771e-02 -3.47317796e+00] [-8.65556089e-02 -4.26919789e-03 9.96237873e-01 -5.44104926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.276296757000004 meters 0.07518027848127169 Centerline is valid? [True, True] Translation: X:46.39, Y:-3.48, Z:-5.45 [[ 9.74027124e-01 2.09876667e-01 8.49879245e-02 4.63870366e+01] [-2.09444881e-01 9.77719275e-01 -1.40663271e-02 -3.47554162e+00] [-8.60465257e-02 -4.09930153e-03 9.96282686e-01 -5.44764828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.306296757 meters 0.07533244155513005 Centerline is valid? [True, True] Translation: X:46.42, Y:-3.48, Z:-5.45 [[ 9.74334807e-01 2.08355956e-01 8.52025788e-02 4.64180184e+01] [-2.07914081e-01 9.78045083e-01 -1.41262462e-02 -3.48153442e+00] [-8.62752508e-02 -3.95112248e-03 9.96263504e-01 -5.45218397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.336296757 meters 0.07443352896276872 Centerline is valid? [True, True] Translation: X:46.45, Y:-3.49, Z:-5.45 [[ 9.75461146e-01 2.03521422e-01 8.39915637e-02 4.64463808e+01] [-2.03073502e-01 9.79064361e-01 -1.39330651e-02 -3.49447405e+00] [-8.50688239e-02 -3.46529733e-03 9.96369052e-01 -5.45406929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.366296757 meters 0.07398435409590466 Centerline is valid? [True, True] Translation: X:46.48, Y:-3.50, Z:-5.46 [[ 9.75958091e-01 2.00885878e-01 8.45616244e-02 4.64772972e+01] [-2.00422056e-01 9.79609232e-01 -1.40268575e-02 -3.50261998e+00] [-8.56551455e-02 -3.25838955e-03 9.96319516e-01 -5.45705232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.396296757 meters 0.07261562948611817 Centerline is valid? [True, True] Translation: X:46.51, Y:-3.51, Z:-5.46 [[ 9.76954609e-01 1.95113417e-01 8.65473621e-02 4.65075111e+01] [-1.94604761e-01 9.80776646e-01 -1.43581998e-02 -3.51156248e+00] [-8.76851089e-02 -2.81521921e-03 9.96144265e-01 -5.45942476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.426296757 meters 0.07237285260960903 Centerline is valid? [True, True] Translation: X:46.54, Y:-3.52, Z:-5.46 [[ 9.77377095e-01 1.92865733e-01 8.68148788e-02 4.65383193e+01] [-1.92343702e-01 9.81221696e-01 -1.44181837e-02 -3.51702454e+00] [-8.79654161e-02 -2.60629269e-03 9.96120120e-01 -5.46455991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.456296757000004 meters 0.07197039858141856 Centerline is valid? [True, True] Translation: X:46.57, Y:-3.52, Z:-5.47 [[ 9.77495052e-01 1.91823769e-01 8.77898948e-02 4.65699103e+01] [-1.91285790e-01 9.81426096e-01 -1.45795731e-02 -3.52388015e+00] [-8.89560024e-02 -2.54149887e-03 9.96032314e-01 -5.46714232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.486296757 meters 0.071596410803211 Centerline is valid? [True, True] Translation: X:46.60, Y:-3.53, Z:-5.47 [[ 9.77554504e-01 1.91406289e-01 8.80387653e-02 4.66014120e+01] [-1.90861629e-01 9.81507736e-01 -1.46425146e-02 -3.53107677e+00] [-8.92133986e-02 -2.48936601e-03 9.96009424e-01 -5.46918846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.516296757 meters 0.07176857922355147 Centerline is valid? [True, True] Translation: X:46.63, Y:-3.54, Z:-5.47 [[ 9.77467233e-01 1.91769051e-01 8.82181405e-02 4.66323820e+01] [-1.91221455e-01 9.81436887e-01 -1.46966822e-02 -3.53648297e+00] [-8.93989059e-02 -2.50367591e-03 9.95992755e-01 -5.47333232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.546296757 meters 0.07196087892228796 Centerline is valid? [True, True] Translation: X:46.66, Y:-3.54, Z:-5.48 [[ 9.77293756e-01 1.93116818e-01 8.71940898e-02 4.66630371e+01] [-1.92585978e-01 9.81172373e-01 -1.45401256e-02 -3.54260123e+00] [-8.83603748e-02 -2.58238514e-03 9.96085225e-01 -5.47680834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.576296757 meters 0.0719347621646186 Centerline is valid? [True, True] Translation: X:46.69, Y:-3.55, Z:-5.48 [[ 9.77035351e-01 1.94395428e-01 8.72487285e-02 4.66947757e+01] [-1.93867287e-01 9.80919585e-01 -1.45685770e-02 -3.54706181e+00] [-8.84160513e-02 -2.68065947e-03 9.96080025e-01 -5.48013475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.606296757 meters 0.07249395515457675 Centerline is valid? [True, True] Translation: X:46.73, Y:-3.55, Z:-5.49 [[ 9.76493036e-01 1.97637611e-01 8.60274742e-02 4.67263254e+01] [-1.97134389e-01 9.80270845e-01 -1.43910973e-02 -3.54680404e+00] [-8.71744468e-02 -2.90616723e-03 9.96188822e-01 -5.48599448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.636296757000004 meters 0.0727497111807963 Centerline is valid? [True, True] Translation: X:46.76, Y:-3.55, Z:-5.49 [[ 9.76158416e-01 1.99921738e-01 8.45342826e-02 4.67574353e+01] [-1.99444086e-01 9.79807115e-01 -1.41447707e-02 -3.55085935e+00] [-8.56551387e-02 -3.05232576e-03 9.96320170e-01 -5.49050557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.666296757 meters 0.07407864033841594 Centerline is valid? [True, True] Translation: X:46.79, Y:-3.55, Z:-5.50 [[ 9.75290214e-01 2.03957273e-01 8.49142478e-02 4.67874656e+01] [-2.03490221e-01 9.78973823e-01 -1.42121084e-02 -3.55060774e+00] [-8.60274886e-02 -3.41828879e-03 9.96286900e-01 -5.49578005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.696296757 meters 0.07396027223973463 Centerline is valid? [True, True] Translation: X:46.82, Y:-3.55, Z:-5.50 [[ 9.74806953e-01 2.05977948e-01 8.55832255e-02 4.68191665e+01] [-2.05510902e-01 9.78549934e-01 -1.43281749e-02 -3.55498523e+00] [-8.66987477e-02 -3.62108133e-03 9.96227993e-01 -5.49858007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.726296757 meters 0.07450182414983844 Centerline is valid? [True, True] Translation: X:46.85, Y:-3.56, Z:-5.50 [[ 9.74135421e-01 2.08531474e-01 8.70333614e-02 4.68512754e+01] [-2.08056657e-01 9.78007911e-01 -1.45929305e-02 -3.55766362e+00] [-8.81624012e-02 -3.89237970e-03 9.96098509e-01 -5.50233595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.756296757 meters 0.07567044555777627 Centerline is valid? [True, True] Translation: X:46.88, Y:-3.56, Z:-5.51 [[ 9.73370919e-01 2.12849208e-01 8.51132639e-02 4.68814189e+01] [-2.12409207e-01 9.77076198e-01 -1.42980074e-02 -3.55818448e+00] [-8.62054638e-02 -4.16157622e-03 9.96268688e-01 -5.50578919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.786296757 meters 0.0771401600882305 Centerline is valid? [True, True] Translation: X:46.91, Y:-3.56, Z:-5.51 [[ 9.72856561e-01 2.16108782e-01 8.27472455e-02 4.69119423e+01] [-2.15704540e-01 9.76359715e-01 -1.39017515e-02 -3.55771128e+00] [-8.37953676e-02 -4.32454638e-03 9.96473600e-01 -5.51060560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.816296757 meters 0.07766714850793265 Centerline is valid? [True, True] Translation: X:46.94, Y:-3.56, Z:-5.51 [[ 9.72445003e-01 2.18184599e-01 8.21352412e-02 4.69431019e+01] [-2.17794116e-01 9.75897257e-01 -1.37937329e-02 -3.56074922e+00] [-8.31651367e-02 -4.47492566e-03 9.96525732e-01 -5.51447541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.846296757 meters 0.07830490167492556 Centerline is valid? [True, True] Translation: X:46.98, Y:-3.56, Z:-5.52 [[ 9.72114296e-01 2.19723304e-01 8.19479483e-02 4.69750971e+01] [-2.19338217e-01 9.75551507e-01 -1.37841615e-02 -3.56332875e+00] [-8.29731460e-02 -4.57453644e-03 9.96541284e-01 -5.51892581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.876296757 meters 0.07765291113865778 Centerline is valid? [True, True] Translation: X:47.01, Y:-3.57, Z:-5.52 [[ 9.71490511e-01 2.23032266e-01 8.03915178e-02 4.70061851e+01] [-2.22672802e-01 9.74799429e-01 -1.35239594e-02 -3.56899376e+00] [-8.13818849e-02 -4.76260634e-03 9.96671614e-01 -5.52079383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.906296757 meters 0.0799415165625698 Centerline is valid? [True, True] Translation: X:47.04, Y:-3.57, Z:-5.53 [[ 9.71247132e-01 2.24246135e-01 7.99542359e-02 4.70372650e+01] [-2.23893615e-01 9.74520595e-01 -1.34632726e-02 -3.56725384e+00] [-8.09361363e-02 -4.82507805e-03 9.96707610e-01 -5.52893190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.936296757 meters 0.08154807938718389 Centerline is valid? [True, True] Translation: X:47.07, Y:-3.57, Z:-5.53 [[ 9.70837542e-01 2.26229091e-01 7.93401873e-02 4.70680359e+01] [-2.25886787e-01 9.74061646e-01 -1.33817152e-02 -3.56644300e+00] [-8.03095666e-02 -4.93042851e-03 9.96757776e-01 -5.53366420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.966296757 meters 0.07791884324825502 Centerline is valid? [True, True] Translation: X:47.10, Y:-3.58, Z:-5.53 [[ 9.70735907e-01 2.26341064e-01 8.02590915e-02 4.70984436e+01] [-2.25990724e-01 9.74035319e-01 -1.35421398e-02 -3.58052686e+00] [-8.12403321e-02 -4.99196883e-03 9.96682040e-01 -5.53199171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.996296757 meters 0.07828910213488137 Centerline is valid? [True, True] Translation: X:47.13, Y:-3.58, Z:-5.54 [[ 9.70761267e-01 2.25979029e-01 8.09693827e-02 4.71293140e+01] [-2.25619189e-01 9.74119428e-01 -1.36865701e-02 -3.58426558e+00] [-8.19667265e-02 -4.98185434e-03 9.96622615e-01 -5.53552310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.026296757000004 meters 0.07848735392077834 Centerline is valid? [True, True] Translation: X:47.16, Y:-3.59, Z:-5.54 [[ 9.71010220e-01 2.24594909e-01 8.18308016e-02 4.71589640e+01] [-2.24221137e-01 9.74439893e-01 -1.38483710e-02 -3.58843535e+00] [-8.28494711e-02 -4.90128563e-03 9.96550020e-01 -5.53904745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.056296757 meters 0.07786143676947244 Centerline is valid? [True, True] Translation: X:47.19, Y:-3.59, Z:-5.54 [[ 9.71287366e-01 2.23695207e-01 8.10018989e-02 4.71899312e+01] [-2.23326360e-01 9.74647420e-01 -1.37019606e-02 -3.59469985e+00] [-8.20133547e-02 -4.78131798e-03 9.96619761e-01 -5.54192838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.086296757 meters 0.07751850044755006 Centerline is valid? [True, True] Translation: X:47.22, Y:-3.60, Z:-5.55 [[ 9.71833614e-01 2.21083112e-01 8.16191363e-02 4.72205386e+01] [-2.20697162e-01 9.75244269e-01 -1.38339737e-02 -3.59784760e+00] [-8.26570528e-02 -4.56879110e-03 9.96567578e-01 -5.54683406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.116296757 meters 0.07725376369041519 Centerline is valid? [True, True] Translation: X:47.25, Y:-3.60, Z:-5.55 [[ 9.71940034e-01 2.20746222e-01 8.12630039e-02 4.72515286e+01] [-2.20362886e-01 9.75320782e-01 -1.37684630e-02 -3.60333731e+00] [-8.22968327e-02 -4.52522974e-03 9.96597589e-01 -5.54995873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.146296757 meters 0.07645194105888686 Centerline is valid? [True, True] Translation: X:47.28, Y:-3.61, Z:-5.55 [[ 9.72265349e-01 2.18975328e-01 8.21577505e-02 4.72820913e+01] [-2.18574937e-01 9.75720488e-01 -1.39472703e-02 -3.61119202e+00] [-8.32171085e-02 -4.39717755e-03 9.96521740e-01 -5.55071399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.176296757 meters 0.07629463949174246 Centerline is valid? [True, True] Translation: X:47.31, Y:-3.62, Z:-5.55 [[ 9.72525161e-01 2.17651245e-01 8.25999151e-02 4.73121268e+01] [-2.17241527e-01 9.76017115e-01 -1.40253071e-02 -3.61746491e+00] [-8.36715565e-02 -4.30416767e-03 9.96484092e-01 -5.55330589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.206296757000004 meters 0.07545605807025217 Centerline is valid? [True, True] Translation: X:47.34, Y:-3.63, Z:-5.56 [[ 9.72651098e-01 2.17107447e-01 8.25481524e-02 4.73430786e+01] [-2.16696608e-01 9.76138424e-01 -1.40127581e-02 -3.62526602e+00] [-8.36206975e-02 -4.25838001e-03 9.96488557e-01 -5.55561613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.236296757 meters 0.07485580705009004 Centerline is valid? [True, True] Translation: X:47.37, Y:-3.63, Z:-5.56 [[ 9.73087380e-01 2.15369807e-01 8.19560724e-02 4.73741993e+01] [-2.14957038e-01 9.76524124e-01 -1.39322284e-02 -3.63053811e+00] [-8.30326631e-02 -4.05975893e-03 9.96538557e-01 -5.55951536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.266296757 meters 0.0745427349841654 Centerline is valid? [True, True] Translation: X:47.41, Y:-3.64, Z:-5.56 [[ 9.73067228e-01 2.15387819e-01 8.21477823e-02 4.74056755e+01] [-2.14971465e-01 9.76520189e-01 -1.39853556e-02 -3.63507190e+00] [-8.32312431e-02 -4.05073788e-03 9.96522028e-01 -5.56326420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.296296757 meters 0.07484758647728265 Centerline is valid? [True, True] Translation: X:47.44, Y:-3.64, Z:-5.57 [[ 9.72928893e-01 2.15861667e-01 8.25415676e-02 4.74369133e+01] [-2.15441295e-01 9.76415385e-01 -1.40728099e-02 -3.63907953e+00] [-8.36326367e-02 -4.09101889e-03 9.96488257e-01 -5.56712222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.326296757 meters 0.07511237291715657 Centerline is valid? [True, True] Translation: X:47.47, Y:-3.64, Z:-5.57 [[ 9.72807576e-01 2.16286944e-01 8.28575776e-02 4.74679448e+01] [-2.15863001e-01 9.76321141e-01 -1.41490175e-02 -3.64281246e+00] [-8.39558524e-02 -4.12161400e-03 9.96460951e-01 -5.57158145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.356296757 meters 0.07546827077963987 Centerline is valid? [True, True] Translation: X:47.50, Y:-3.65, Z:-5.58 [[ 9.72793293e-01 2.17540773e-01 7.96819949e-02 4.74987702e+01] [-2.17151118e-01 9.76042852e-01 -1.36287410e-02 -3.64524602e+00] [-8.07378484e-02 -4.04508648e-03 9.96727163e-01 -5.57685133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.386296757000004 meters 0.07626330858771181 Centerline is valid? [True, True] Translation: X:47.53, Y:-3.65, Z:-5.58 [[ 9.72673572e-01 2.18572783e-01 7.83074776e-02 4.75294478e+01] [-2.18198603e-01 9.75812267e-01 -1.34085287e-02 -3.64761856e+00] [-7.93441367e-02 -4.04446074e-03 9.96839079e-01 -5.58235158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.416296757 meters 0.07626330858771181 Centerline is valid? [True, True] Translation: X:47.56, Y:-3.65, Z:-5.59 [[ 9.72614142e-01 2.18838032e-01 7.83048336e-02 4.75612121e+01] [-2.18463470e-01 9.75752791e-01 -1.34239481e-02 -3.65316331e+00] [-7.93438303e-02 -4.05042396e-03 9.96839080e-01 -5.58611732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.446296757 meters 0.07667437143363522 Centerline is valid? [True, True] Translation: X:47.59, Y:-3.66, Z:-5.59 [[ 9.72041777e-01 2.21522519e-01 7.78624217e-02 4.75917252e+01] [-2.21158630e-01 9.75146129e-01 -1.33748549e-02 -3.65673428e+00] [-7.88900707e-02 -4.21902886e-03 9.96874394e-01 -5.58950171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.476296757 meters 0.0773573073606919 Centerline is valid? [True, True] Translation: X:47.62, Y:-3.66, Z:-5.59 [[ 9.71647716e-01 2.22942597e-01 7.87230184e-02 4.76239515e+01] [-2.22574660e-01 9.74821756e-01 -1.35301480e-02 -3.65884714e+00] [-7.97573574e-02 -4.37521164e-03 9.96804706e-01 -5.59430035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.506296757 meters 0.07612055881694903 Centerline is valid? [True, True] Translation: X:47.66, Y:-3.66, Z:-5.59 [[ 9.70817035e-01 2.25771161e-01 8.08805794e-02 4.76559684e+01] [-2.25390874e-01 9.74168955e-01 -1.39212116e-02 -3.66464609e+00] [-8.19343576e-02 -4.71479512e-03 9.96626576e-01 -5.59495240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.536296757 meters 0.07620334479951227 Centerline is valid? [True, True] Translation: X:47.69, Y:-3.67, Z:-5.60 [[ 9.70694058e-01 2.26263797e-01 8.09798743e-02 4.76881543e+01] [-2.25882691e-01 9.74054513e-01 -1.39576264e-02 -3.67016085e+00] [-8.20369176e-02 -4.74336690e-03 9.96618003e-01 -5.59788152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.566296757 meters 0.07634844327507186 Centerline is valid? [True, True] Translation: X:47.72, Y:-3.68, Z:-5.60 [[ 9.70830029e-01 2.25746880e-01 8.07923301e-02 4.77183532e+01] [-2.25363421e-01 9.74174841e-01 -1.39537301e-02 -3.67599015e+00] [-8.18558665e-02 -4.66093574e-03 9.96633279e-01 -5.60129705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.596296757 meters 0.07607162510022637 Centerline is valid? [True, True] Translation: X:47.75, Y:-3.68, Z:-5.61 [[ 9.71119323e-01 2.23658209e-01 8.30919109e-02 4.77484441e+01] [-2.23243708e-01 9.74656791e-01 -1.43661882e-02 -3.68441271e+00] [-8.41992111e-02 -4.59846336e-03 9.96438331e-01 -5.60530467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.626296757 meters 0.07603912579424761 Centerline is valid? [True, True] Translation: X:47.78, Y:-3.69, Z:-5.61 [[ 9.71686197e-01 2.21093592e-01 8.33280113e-02 4.77776519e+01] [-2.20666828e-01 9.75242747e-01 -1.44130566e-02 -3.69151499e+00] [-8.44516731e-02 -4.38275975e-03 9.96417938e-01 -5.60966129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.656296757 meters 0.07574881267436036 Centerline is valid? [True, True] Translation: X:47.81, Y:-3.70, Z:-5.61 [[ 9.71935914e-01 2.19475886e-01 8.46812487e-02 4.78085254e+01] [-2.19028983e-01 9.75608400e-01 -1.46476655e-02 -3.69958508e+00] [-8.58305469e-02 -4.31105564e-03 9.96300423e-01 -5.61317301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.686296757 meters 0.07583969390264961 Centerline is valid? [True, True] Translation: X:47.84, Y:-3.71, Z:-5.62 [[ 9.72251384e-01 2.18120670e-01 8.45613323e-02 4.78393596e+01] [-2.17670029e-01 9.75912827e-01 -1.46257521e-02 -3.70728544e+00] [-8.57146677e-02 -4.18655989e-03 9.96310930e-01 -5.61664831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.716296757 meters 0.07498359688968165 Centerline is valid? [True, True] Translation: X:47.87, Y:-3.72, Z:-5.62 [[ 9.73020480e-01 2.14937240e-01 8.38637505e-02 4.78687882e+01] [-2.14479944e-01 9.76620285e-01 -1.45317948e-02 -3.71641186e+00] [-8.50264637e-02 -3.84735856e-03 9.96371265e-01 -5.62099923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.746296757 meters 0.07482705241939844 Centerline is valid? [True, True] Translation: X:47.90, Y:-3.72, Z:-5.63 [[ 9.73071754e-01 2.14287758e-01 8.49241902e-02 4.78997072e+01] [-2.13816606e-01 9.76763020e-01 -1.47126344e-02 -3.72235179e+00] [-8.61035460e-02 -3.84175312e-03 9.96278786e-01 -5.62515811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.776296757000004 meters 0.07497744864383113 Centerline is valid? [True, True] Translation: X:47.93, Y:-3.73, Z:-5.63 [[ 9.73254013e-01 2.13277255e-01 8.53782106e-02 4.79300262e+01] [-2.12795327e-01 9.76984512e-01 -1.48125462e-02 -3.72795854e+00] [-8.65723687e-02 -3.75171421e-03 9.96238500e-01 -5.62904119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.806296757 meters 0.07304930784247828 Centerline is valid? [True, True] Translation: X:47.96, Y:-3.74, Z:-5.63 [[ 9.73058355e-01 2.13409680e-01 8.72567885e-02 4.79609366e+01] [-2.12905143e-01 9.76955297e-01 -1.51574317e-02 -3.74089959e+00] [-8.84807244e-02 -3.82835349e-03 9.96070532e-01 -5.62820176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.836296757 meters 0.07343342703023746 Centerline is valid? [True, True] Translation: X:47.99, Y:-3.75, Z:-5.63 [[ 9.72817502e-01 2.14263520e-01 8.78478914e-02 4.79919613e+01] [-2.13753613e-01 9.76768062e-01 -1.52821810e-02 -3.74813498e+00] [-8.90814286e-02 -3.91103103e-03 9.96016668e-01 -5.63077814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.866296757 meters 0.07584832952383282 Centerline is valid? [True, True] Translation: X:48.02, Y:-3.75, Z:-5.64 [[ 9.72645800e-01 2.15473820e-01 8.67823709e-02 4.80230709e+01] [-2.14978878e-01 9.76501632e-01 -1.51209681e-02 -3.74595958e+00] [-8.80012996e-02 -3.94903062e-03 9.96112532e-01 -5.63947939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.896296757 meters 0.07464382185979504 Centerline is valid? [True, True] Translation: X:48.05, Y:-3.75, Z:-5.64 [[ 9.71966569e-01 2.18626513e-01 8.65068588e-02 4.80540992e+01] [-2.18144937e-01 9.75799589e-01 -1.50979474e-02 -3.75297641e+00] [-8.77141689e-02 -4.19633314e-03 9.96136846e-01 -5.64122425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.926296757 meters 0.0753722580917986 Centerline is valid? [True, True] Translation: X:48.09, Y:-3.75, Z:-5.65 [[ 9.71567701e-01 2.20421682e-01 8.64319678e-02 4.80858048e+01] [-2.19948071e-01 9.75394953e-01 -1.50841656e-02 -3.75425942e+00] [-8.76301823e-02 -4.35525653e-03 9.96143555e-01 -5.64554111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.956296757000004 meters 0.07587138753954795 Centerline is valid? [True, True] Translation: X:48.12, Y:-3.76, Z:-5.65 [[ 9.71095615e-01 2.22633623e-01 8.60672838e-02 4.81174887e+01] [-2.22170501e-01 9.74891746e-01 -1.50449963e-02 -3.75691701e+00] [-8.72558066e-02 -4.51148163e-03 9.96175723e-01 -5.65001096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.986296757 meters 0.07668218760424388 Centerline is valid? [True, True] Translation: X:48.15, Y:-3.76, Z:-5.65 [[ 9.70647885e-01 2.24896186e-01 8.52313782e-02 4.81485726e+01] [-2.24450287e-01 9.74371568e-01 -1.49035882e-02 -3.76189526e+00] [-8.63987917e-02 -4.66407085e-03 9.96249715e-01 -5.65321169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.016296757 meters 0.07714093580607305 Centerline is valid? [True, True] Translation: X:48.18, Y:-3.77, Z:-5.66 [[ 9.70627976e-01 2.25160489e-01 8.47589890e-02 4.81787797e+01] [-2.24720621e-01 9.74310533e-01 -1.48198368e-02 -3.76756590e+00] [-8.59184175e-02 -4.66254444e-03 9.96291266e-01 -5.65740990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.046296757 meters 0.07761740578938461 Centerline is valid? [True, True] Translation: X:48.21, Y:-3.77, Z:-5.66 [[ 9.70475344e-01 2.26319839e-01 8.34082512e-02 4.82101542e+01] [-2.25896169e-01 9.74041867e-01 -1.46069020e-02 -3.77405084e+00] [-8.45489605e-02 -4.66596620e-03 9.96408401e-01 -5.66166212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.076296757 meters 0.07810539717825442 Centerline is valid? [True, True] Translation: X:48.24, Y:-3.78, Z:-5.67 [[ 9.70216541e-01 2.27469151e-01 8.32925555e-02 4.82420544e+01] [-2.27050824e-01 9.73773659e-01 -1.45871667e-02 -3.77745953e+00] [-8.44262269e-02 -4.75893287e-03 9.96418368e-01 -5.66628747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.106296757 meters 0.0782330812162094 Centerline is valid? [True, True] Translation: X:48.27, Y:-3.78, Z:-5.67 [[ 9.69398002e-01 2.30835492e-01 8.35612890e-02 4.82726312e+01] [-2.30425064e-01 9.72979702e-01 -1.46557277e-02 -3.78106553e+00] [-8.46865001e-02 -5.04738215e-03 9.96394862e-01 -5.67011032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.136296757000004 meters 0.078602098213422 Centerline is valid? [True, True] Translation: X:48.30, Y:-3.79, Z:-5.67 [[ 9.69111448e-01 2.31966902e-01 8.37517622e-02 4.83037311e+01] [-2.31557475e-01 9.72710084e-01 -1.47047004e-02 -3.78668253e+00] [-8.48771874e-02 -5.14285310e-03 9.96378148e-01 -5.67372317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.166296757 meters 0.08062490217622444 Centerline is valid? [True, True] Translation: X:48.33, Y:-3.79, Z:-5.68 [[ 9.69157113e-01 2.31694046e-01 8.39783320e-02 4.83339699e+01] [-2.31279546e-01 9.72775276e-01 -1.47659791e-02 -3.78904509e+00] [-8.51132345e-02 -5.11191679e-03 9.96358171e-01 -5.67947764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.196296757 meters 0.07893026452584957 Centerline is valid? [True, True] Translation: X:48.36, Y:-3.80, Z:-5.68 [[ 9.69476381e-01 2.30671203e-01 8.31044106e-02 4.83643549e+01] [-2.30259997e-01 9.73019156e-01 -1.46306458e-02 -3.80093463e+00] [-8.42370521e-02 -4.95155579e-03 9.96433440e-01 -5.68110627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.226296757 meters 0.07715160346900665 Centerline is valid? [True, True] Translation: X:48.40, Y:-3.81, Z:-5.68 [[ 9.69591042e-01 2.29946317e-01 8.37729268e-02 4.83953006e+01] [-2.29524036e-01 9.73190937e-01 -1.47687590e-02 -3.81076481e+00] [-8.49230749e-02 -4.90824387e-03 9.96375421e-01 -5.68268432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.256296757 meters 0.07675508823822799 Centerline is valid? [True, True] Translation: X:48.43, Y:-3.82, Z:-5.69 [[ 9.70037791e-01 2.27848778e-01 8.43304141e-02 4.84260610e+01] [-2.27410626e-01 9.73685044e-01 -1.48943480e-02 -3.81841565e+00] [-8.55049220e-02 -4.72955178e-03 9.96326523e-01 -5.68590191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.286296757 meters 0.07719752155654867 Centerline is valid? [True, True] Translation: X:48.46, Y:-3.82, Z:-5.69 [[ 9.70503972e-01 2.25953618e-01 8.40654703e-02 4.84552392e+01] [-2.25510661e-01 9.74127470e-01 -1.48531120e-02 -3.82447647e+00] [-8.52465982e-02 -4.54265554e-03 9.96349528e-01 -5.68968860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.316296757 meters 0.07500011424955232 Centerline is valid? [True, True] Translation: X:48.48, Y:-3.84, Z:-5.69 [[ 9.71147669e-01 2.22804750e-01 8.50308652e-02 4.84845811e+01] [-2.22339456e-01 9.74853542e-01 -1.50246036e-02 -3.84015973e+00] [-8.62401932e-02 -4.31460759e-03 9.96265032e-01 -5.68959995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.346296757000005 meters 0.07486230851840811 Centerline is valid? [True, True] Translation: X:48.51, Y:-3.85, Z:-5.69 [[ 9.71221148e-01 2.22279726e-01 8.55640434e-02 4.85149388e+01] [-2.21806504e-01 9.74973477e-01 -1.51193133e-02 -3.84533989e+00] [-8.67833897e-02 -4.29446458e-03 9.96217948e-01 -5.69210264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.376296757 meters 0.07527599743377711 Centerline is valid? [True, True] Translation: X:48.55, Y:-3.85, Z:-5.70 [[ 9.71199650e-01 2.21979935e-01 8.65803024e-02 4.85461655e+01] [-2.21493356e-01 9.75041711e-01 -1.53086427e-02 -3.84835008e+00] [-8.78176177e-02 -4.30921327e-03 9.96127249e-01 -5.69697642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.406296757 meters 0.07576220808790596 Centerline is valid? [True, True] Translation: X:48.58, Y:-3.85, Z:-5.70 [[ 9.71027160e-01 2.23034370e-01 8.58016574e-02 4.85775832e+01] [-2.22558766e-01 9.74800902e-01 -1.51919950e-02 -3.85059936e+00] [-8.70278701e-02 -4.34407118e-03 9.96196406e-01 -5.70326319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.436296757 meters 0.07422735749212546 Centerline is valid? [True, True] Translation: X:48.61, Y:-3.86, Z:-5.70 [[ 9.71003621e-01 2.23279368e-01 8.54300427e-02 4.86087882e+01] [-2.22807120e-01 9.74744886e-01 -1.51457408e-02 -3.86252673e+00] [-8.66542287e-02 -4.32785265e-03 9.96229047e-01 -5.70388549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.466296757 meters 0.07391592776010115 Centerline is valid? [True, True] Translation: X:48.64, Y:-3.87, Z:-5.71 [[ 9.70864394e-01 2.23221930e-01 8.71452735e-02 4.86401399e+01] [-2.22727866e-01 9.74757793e-01 -1.54771562e-02 -3.86962051e+00] [-8.84003752e-02 -4.38346099e-03 9.96075378e-01 -5.70675159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.496296757 meters 0.07352575321731121 Centerline is valid? [True, True] Translation: X:48.67, Y:-3.88, Z:-5.71 [[ 9.70886825e-01 2.23089856e-01 8.72335360e-02 4.86712795e+01] [-2.22592274e-01 9.74788161e-01 -1.55151843e-02 -3.87662269e+00] [-8.84954984e-02 -4.35402309e-03 9.96067061e-01 -5.70917332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.526296757000004 meters 0.07571833132143505 Centerline is valid? [True, True] Translation: X:48.70, Y:-3.87, Z:-5.72 [[ 9.71013381e-01 2.23243673e-01 8.54123860e-02 4.87025923e+01] [-2.22765353e-01 9.74753384e-01 -1.52131017e-02 -3.87490173e+00] [-8.66522409e-02 -4.25479495e-03 9.96229535e-01 -5.71636919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.556296757 meters 0.07454123012587058 Centerline is valid? [True, True] Translation: X:48.73, Y:-3.88, Z:-5.72 [[ 9.71170536e-01 2.23480553e-01 8.29712738e-02 4.87337443e+01] [-2.23028045e-01 9.74699641e-01 -1.48020883e-02 -3.88219351e+00] [-8.41800496e-02 -4.12956897e-03 9.96442003e-01 -5.71899658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.586296757 meters 0.07369441515453821 Centerline is valid? [True, True] Translation: X:48.76, Y:-3.89, Z:-5.72 [[ 9.71080726e-01 2.23925021e-01 8.28239631e-02 4.87644318e+01] [-2.23475724e-01 9.74597494e-01 -1.47758683e-02 -3.88993474e+00] [-8.40287135e-02 -4.16058424e-03 9.96454648e-01 -5.72126839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.616296757 meters 0.07461310954459435 Centerline is valid? [True, True] Translation: X:48.80, Y:-3.89, Z:-5.73 [[ 9.71022743e-01 2.24403014e-01 8.22077810e-02 4.87951812e+01] [-2.23960296e-01 9.74487593e-01 -1.46873125e-02 -3.89210030e+00] [-8.34063399e-02 -4.14956449e-03 9.96506981e-01 -5.72676994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.646296757 meters 0.07435665543476354 Centerline is valid? [True, True] Translation: X:48.83, Y:-3.90, Z:-5.73 [[ 9.70937428e-01 2.25100729e-01 8.13029663e-02 4.88262901e+01] [-2.24668622e-01 9.74326681e-01 -1.45440290e-02 -3.89871262e+00] [-8.24895209e-02 -4.14488329e-03 9.96583313e-01 -5.72963574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.676296757 meters 0.07414540172469164 Centerline is valid? [True, True] Translation: X:48.86, Y:-3.91, Z:-5.73 [[ 9.71028664e-01 2.24505889e-01 8.18562094e-02 4.88579245e+01] [-2.24063595e-01 9.74464120e-01 -1.46691319e-02 -3.90579275e+00] [-8.30592455e-02 -4.09684903e-03 9.96536190e-01 -5.73299769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.706296757000004 meters 0.0740893430300358 Centerline is valid? [True, True] Translation: X:48.89, Y:-3.91, Z:-5.74 [[ 9.71160501e-01 2.23938018e-01 8.18477030e-02 4.88889318e+01] [-2.23493328e-01 9.74595005e-01 -1.46733677e-02 -3.91013554e+00] [-8.30542874e-02 -4.04222039e-03 9.96536826e-01 -5.73656902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.736296757 meters 0.07409952557230882 Centerline is valid? [True, True] Translation: X:48.92, Y:-3.91, Z:-5.74 [[ 9.71172940e-01 2.23985816e-01 8.15688300e-02 4.89209041e+01] [-2.23543713e-01 9.74584092e-01 -1.46306776e-02 -3.91412643e+00] [-8.27727483e-02 -4.02528098e-03 9.96560319e-01 -5.74062626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.766296757 meters 0.07401565925083517 Centerline is valid? [True, True] Translation: X:48.95, Y:-3.92, Z:-5.75 [[ 9.71530094e-01 2.22871406e-01 8.03592755e-02 4.89522059e+01] [-2.22436591e-01 9.74840256e-01 -1.44373649e-02 -3.91964978e+00] [-8.15551325e-02 -3.84850882e-03 9.96661402e-01 -5.74523978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.796296757 meters 0.07395657714598204 Centerline is valid? [True, True] Translation: X:48.98, Y:-3.93, Z:-5.75 [[ 9.71712623e-01 2.22329853e-01 7.96493283e-02 4.89827484e+01] [-2.21899245e-01 9.74964295e-01 -1.43299541e-02 -3.92596874e+00] [-8.08412279e-02 -3.74952857e-03 9.96719939e-01 -5.74848353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.826296757 meters 0.07338140889120488 Centerline is valid? [True, True] Translation: X:49.01, Y:-3.93, Z:-5.75 [[ 9.71866929e-01 2.21789878e-01 7.92711984e-02 4.90141058e+01] [-2.21360157e-01 9.75087576e-01 -1.42793182e-02 -3.93465492e+00] [-8.04633690e-02 -3.66988781e-03 9.96750810e-01 -5.75062622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.856296757 meters 0.0735317010812811 Centerline is valid? [True, True] Translation: X:49.04, Y:-3.94, Z:-5.75 [[ 9.71766858e-01 2.21566797e-01 8.11007226e-02 4.90449677e+01] [-2.21114227e-01 9.75138129e-01 -1.46330972e-02 -3.93781652e+00] [-8.23266154e-02 -3.71256466e-03 9.96598487e-01 -5.75288531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.886296757000004 meters 0.07265516368196846 Centerline is valid? [True, True] Translation: X:49.08, Y:-3.94, Z:-5.75 [[ 9.71564685e-01 2.22092231e-01 8.20798639e-02 4.90766824e+01] [-2.21629852e-01 9.75018277e-01 -1.48178410e-02 -3.94442163e+00] [-8.33202948e-02 -3.79485711e-03 9.96515593e-01 -5.75425852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.916296757 meters 0.07310358240734435 Centerline is valid? [True, True] Translation: X:49.11, Y:-3.94, Z:-5.76 [[ 9.70887902e-01 2.24482435e-01 8.35722292e-02 4.91091726e+01] [-2.24010059e-01 9.74469711e-01 -1.51088162e-02 -3.94483773e+00] [-8.48302698e-02 -4.05205315e-03 9.96387177e-01 -5.75700165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.946296757 meters 0.07275577306983363 Centerline is valid? [True, True] Translation: X:49.14, Y:-3.95, Z:-5.76 [[ 9.70558875e-01 2.25734838e-01 8.40193606e-02 4.91407079e+01] [-2.25260255e-01 9.74179886e-01 -1.52107685e-02 -3.95138703e+00] [-8.52835715e-02 -4.16327628e-03 9.96348021e-01 -5.75774613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.976296757 meters 0.07406533601033673 Centerline is valid? [True, True] Translation: X:49.17, Y:-3.95, Z:-5.76 [[ 9.69959910e-01 2.27734643e-01 8.55260484e-02 4.91723924e+01] [-2.27248604e-01 9.73713314e-01 -1.55065971e-02 -3.95141824e+00] [-8.68092413e-02 -4.39489762e-03 9.96215258e-01 -5.76206013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.006296757 meters 0.07344356647069344 Centerline is valid? [True, True] Translation: X:49.20, Y:-3.96, Z:-5.76 [[ 9.69627454e-01 2.29577552e-01 8.43608166e-02 4.92034904e+01] [-2.29109934e-01 9.73280069e-01 -1.53148474e-02 -3.95804134e+00] [-8.56226466e-02 -4.47820469e-03 9.96317574e-01 -5.76407990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.036296757 meters 0.07398158177752338 Centerline is valid? [True, True] Translation: X:49.24, Y:-3.96, Z:-5.77 [[ 9.69177813e-01 2.31300005e-01 8.48214242e-02 4.92358132e+01] [-2.30832147e-01 9.72871424e-01 -1.54179167e-02 -3.95985275e+00] [-8.60865040e-02 -4.63680869e-03 9.96276876e-01 -5.76891377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.066296757 meters 0.0752146577918763 Centerline is valid? [True, True] Translation: X:49.27, Y:-3.96, Z:-5.77 [[ 9.68180287e-01 2.35976513e-01 8.33187663e-02 4.92674815e+01] [-2.35539998e-01 9.71746224e-01 -1.51718841e-02 -3.95608119e+00] [-8.45449048e-02 -4.93578288e-03 9.96407445e-01 -5.77496107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.096296757000005 meters 0.07695671809795228 Centerline is valid? [True, True] Translation: X:49.30, Y:-3.95, Z:-5.78 [[ 9.67391077e-01 2.39629239e-01 8.20507834e-02 4.92985111e+01] [-2.39218839e-01 9.70850694e-01 -1.49424844e-02 -3.95195583e+00] [-8.32397161e-02 -5.17286708e-03 9.96516127e-01 -5.78040063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.126296757 meters 0.07789457657974064 Centerline is valid? [True, True] Translation: X:49.33, Y:-3.95, Z:-5.78 [[ 9.67140976e-01 2.40767760e-01 8.16652793e-02 4.93291027e+01] [-2.40364755e-01 9.70568610e-01 -1.48781307e-02 -3.95311624e+00] [-8.28439307e-02 -5.24020497e-03 9.96548756e-01 -5.78437808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.156296757 meters 0.08027708808556301 Centerline is valid? [True, True] Translation: X:49.36, Y:-3.95, Z:-5.79 [[ 9.66892083e-01 2.41475724e-01 8.25177213e-02 4.93609775e+01] [-2.41066277e-01 9.70392111e-01 -1.50399582e-02 -3.95153101e+00] [-8.37063306e-02 -5.35022336e-03 9.96476104e-01 -5.79035896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.186296757 meters 0.0799983203574421 Centerline is valid? [True, True] Translation: X:49.39, Y:-3.96, Z:-5.79 [[ 9.66873844e-01 2.41465011e-01 8.27624208e-02 4.93920521e+01] [-2.41052367e-01 9.70394740e-01 -1.50931824e-02 -3.95525722e+00] [-8.39566933e-02 -5.35687412e-03 9.96455005e-01 -5.79243240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.216296757 meters 0.07825741711216715 Centerline is valid? [True, True] Translation: X:49.42, Y:-3.96, Z:-5.80 [[ 9.67076144e-01 2.40869763e-01 8.21309317e-02 4.94232639e+01] [-2.40459821e-01 9.70543260e-01 -1.49951839e-02 -3.96144767e+00] [-8.33235086e-02 -5.24770448e-03 9.96508733e-01 -5.79524807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.246296757 meters 0.07540961936955197 Centerline is valid? [True, True] Translation: X:49.45, Y:-3.97, Z:-5.80 [[ 9.67118673e-01 2.40991290e-01 8.12691299e-02 4.94537326e+01] [-2.40588736e-01 9.70513434e-01 -1.48571229e-02 -3.97156181e+00] [-8.24532196e-02 -5.18383629e-03 9.96581454e-01 -5.79555123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.276296757000004 meters 0.07473894424176739 Centerline is valid? [True, True] Translation: X:49.49, Y:-3.98, Z:-5.80 [[ 9.67120886e-01 2.40567487e-01 8.24892447e-02 4.94856860e+01] [-2.40149163e-01 9.70618477e-01 -1.51047194e-02 -3.97613373e+00] [-8.36992894e-02 -5.20163347e-03 9.96477482e-01 -5.79943966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.306296757 meters 0.07473894424176739 Centerline is valid? [True, True] Translation: X:49.52, Y:-3.98, Z:-5.80 [[ 9.67052199e-01 2.40843533e-01 8.24890144e-02 4.95174040e+01] [-2.40426100e-01 9.70549896e-01 -1.51059839e-02 -3.98202698e+00] [-8.36978828e-02 -5.22423711e-03 9.96477482e-01 -5.80320043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.336296757 meters 0.07610670538964517 Centerline is valid? [True, True] Translation: X:49.55, Y:-3.98, Z:-5.81 [[ 9.67045954e-01 2.40488776e-01 8.35898970e-02 4.95490352e+01] [-2.40056511e-01 9.70637791e-01 -1.53345809e-02 -3.98030583e+00] [-8.48233076e-02 -5.23705465e-03 9.96382246e-01 -5.80746051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.366296757 meters 0.07513186799283307 Centerline is valid? [True, True] Translation: X:49.58, Y:-3.99, Z:-5.81 [[ 9.67159295e-01 2.39820416e-01 8.41965880e-02 4.95807484e+01] [-2.39377220e-01 9.70803383e-01 -1.54705529e-02 -3.98763204e+00] [-8.54484869e-02 -5.19225607e-03 9.96329060e-01 -5.80995062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.396296757 meters 0.07497102151803677 Centerline is valid? [True, True] Translation: X:49.61, Y:-3.99, Z:-5.81 [[ 9.67463624e-01 2.38234129e-01 8.51976276e-02 4.96122282e+01] [-2.37773438e-01 9.71194342e-01 -1.56634149e-02 -3.99144681e+00] [-8.64750139e-02 -5.10394869e-03 9.96240946e-01 -5.81268585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.426296757 meters 0.07542894876999365 Centerline is valid? [True, True] Translation: X:49.64, Y:-3.99, Z:-5.82 [[ 9.67491104e-01 2.37700807e-01 8.63671804e-02 4.96431391e+01] [-2.37225277e-01 9.71324892e-01 -1.58783197e-02 -3.99407259e+00] [-8.76648817e-02 -5.12634527e-03 9.96136833e-01 -5.81749334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.456296757000004 meters 0.07563331265008132 Centerline is valid? [True, True] Translation: X:49.67, Y:-4.00, Z:-5.82 [[ 9.67699023e-01 2.36628356e-01 8.69805825e-02 4.96736893e+01] [-2.36139497e-01 9.71587163e-01 -1.60163585e-02 -3.99527563e+00] [-8.82991419e-02 -5.04053653e-03 9.96081249e-01 -5.82102674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.486296757 meters 0.07361399103063299 Centerline is valid? [True, True] Translation: X:49.70, Y:-4.01, Z:-5.82 [[ 9.67706670e-01 2.36245568e-01 8.79308354e-02 4.97046386e+01] [-2.35744420e-01 9.71680203e-01 -1.61910655e-02 -4.00544540e+00] [-8.92657195e-02 -5.06100175e-03 9.95994989e-01 -5.82148866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.516296757 meters 0.07264010584593848 Centerline is valid? [True, True] Translation: X:49.74, Y:-4.01, Z:-5.82 [[ 9.67988312e-01 2.34787161e-01 8.87334023e-02 4.97352120e+01] [-2.34268144e-01 9.72034231e-01 -1.63673653e-02 -4.01050525e+00] [-9.00947517e-02 -4.94399110e-03 9.95920927e-01 -5.82421380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.546296757 meters 0.07327852699307405 Centerline is valid? [True, True] Translation: X:49.77, Y:-4.01, Z:-5.83 [[ 9.68214469e-01 2.34114041e-01 8.80417909e-02 4.97661137e+01] [-2.33600278e-01 9.72197081e-01 -1.62402231e-02 -4.01246205e+00] [-8.93960364e-02 -4.84256782e-03 9.95984387e-01 -5.82966645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.576296757 meters 0.07294062641924352 Centerline is valid? [True, True] Translation: X:49.80, Y:-4.02, Z:-5.83 [[ 9.68693963e-01 2.32655021e-01 8.66235948e-02 4.97974336e+01] [-2.32151016e-01 9.72548343e-01 -1.59883456e-02 -4.01779120e+00] [-8.79654025e-02 -4.62194163e-03 9.96112808e-01 -5.83433745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.606296757 meters 0.07249764141526233 Centerline is valid? [True, True] Translation: X:49.83, Y:-4.02, Z:-5.84 [[ 9.68958104e-01 2.31852317e-01 8.58178085e-02 4.98288201e+01] [-2.31352620e-01 9.72740657e-01 -1.58612687e-02 -4.02479586e+00] [-8.71559433e-02 -4.48527003e-03 9.96184583e-01 -5.83763559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.636296757000004 meters 0.07320018926874737 Centerline is valid? [True, True] Translation: X:49.86, Y:-4.03, Z:-5.84 [[ 9.69243980e-01 2.31210960e-01 8.43065760e-02 4.98599684e+01] [-2.30724506e-01 9.72894010e-01 -1.56028178e-02 -4.02750940e+00] [-8.56289053e-02 -4.32865579e-03 9.96317697e-01 -5.84348454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.666296757 meters 0.07226721378620513 Centerline is valid? [True, True] Translation: X:49.89, Y:-4.04, Z:-5.85 [[ 9.69502013e-01 2.30247275e-01 8.39764155e-02 4.98912597e+01] [-2.29759003e-01 9.73123076e-01 -1.55653248e-02 -4.03541994e+00] [-8.53032613e-02 -4.20372380e-03 9.96346166e-01 -5.84636806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.696296757 meters 0.07298664299019382 Centerline is valid? [True, True] Translation: X:49.92, Y:-4.04, Z:-5.85 [[ 9.69456492e-01 2.30441118e-01 8.39702402e-02 4.99226799e+01] [-2.29951596e-01 9.73077220e-01 -1.55880697e-02 -4.03789160e+00] [-8.53016601e-02 -4.19713539e-03 9.96346331e-01 -5.85169241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.726296757 meters 0.07253380171550075 Centerline is valid? [True, True] Translation: X:49.95, Y:-4.04, Z:-5.85 [[ 9.69359783e-01 2.30688310e-01 8.44068378e-02 4.99545013e+01] [-2.30193453e-01 9.73018514e-01 -1.56826249e-02 -4.04279215e+00] [-8.57472142e-02 -4.22779560e-03 9.96307955e-01 -5.85396642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.756296757 meters 0.0727432730146322 Centerline is valid? [True, True] Translation: X:49.99, Y:-4.05, Z:-5.86 [[ 9.69316687e-01 2.30904319e-01 8.43110715e-02 4.99856102e+01] [-2.30409587e-01 9.72967304e-01 -1.56859051e-02 -4.04706182e+00] [-8.56538592e-02 -4.22146955e-03 9.96316012e-01 -5.85859886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.786296757 meters 0.0727725694152593 Centerline is valid? [True, True] Translation: X:50.02, Y:-4.05, Z:-5.86 [[ 9.69214381e-01 2.31149429e-01 8.48140674e-02 5.00168985e+01] [-2.30647639e-01 9.72908998e-01 -1.58033987e-02 -4.05210747e+00] [-8.61693159e-02 -4.24528312e-03 9.96271462e-01 -5.86246244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.816296757 meters 0.07237763423987532 Centerline is valid? [True, True] Translation: X:50.05, Y:-4.06, Z:-5.86 [[ 9.69117012e-01 2.31333030e-01 8.54239170e-02 5.00482613e+01] [-2.30822812e-01 9.72865245e-01 -1.59387507e-02 -4.05991118e+00] [-8.67931195e-02 -4.27127427e-03 9.96217201e-01 -5.86481959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.846296757000005 meters 0.07235923050196967 Centerline is valid? [True, True] Translation: X:50.08, Y:-4.07, Z:-5.87 [[ 9.68971166e-01 2.31859311e-01 8.56512664e-02 5.00797885e+01] [-2.31346592e-01 9.72739784e-01 -1.60020920e-02 -4.06811233e+00] [-8.70266284e-02 -4.30956288e-03 9.96196664e-01 -5.86733898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.876296757 meters 0.07348700374515399 Centerline is valid? [True, True] Translation: X:50.11, Y:-4.07, Z:-5.87 [[ 9.68888364e-01 2.32292671e-01 8.54134198e-02 5.01100750e+01] [-2.31782137e-01 9.72636385e-01 -1.59844659e-02 -4.07095695e+00] [-8.67892742e-02 -4.31014203e-03 9.96217368e-01 -5.87263189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.906296757 meters 0.07246568685088633 Centerline is valid? [True, True] Translation: X:50.14, Y:-4.08, Z:-5.88 [[ 9.68511018e-01 2.34060337e-01 8.48655801e-02 5.01413223e+01] [-2.33560944e-01 9.72212046e-01 -1.59066973e-02 -4.07901218e+00] [-8.62304661e-02 -4.41547340e-03 9.96265432e-01 -5.87582493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.936296757 meters 0.07283414103530284 Centerline is valid? [True, True] Translation: X:50.17, Y:-4.08, Z:-5.88 [[ 9.68357948e-01 2.34926913e-01 8.42153739e-02 5.01728126e+01] [-2.34438340e-01 9.72002818e-01 -1.57856146e-02 -4.08362148e+00] [-8.55660465e-02 -4.45718711e-03 9.96322531e-01 -5.88030974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.966296757 meters 0.07450435254040319 Centerline is valid? [True, True] Translation: X:50.20, Y:-4.08, Z:-5.89 [[ 9.68242591e-01 2.35341706e-01 8.43834481e-02 5.02035186e+01] [-2.34850567e-01 9.71902376e-01 -1.58424577e-02 -4.08408254e+00] [-8.57408647e-02 -4.47815830e-03 9.96307407e-01 -5.88630084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.996296757 meters 0.07323964893867481 Centerline is valid? [True, True] Translation: X:50.23, Y:-4.10, Z:-5.89 [[ 9.68095621e-01 2.35552251e-01 8.54751761e-02 5.02343147e+01] [-2.35048336e-01 9.71851052e-01 -1.60565702e-02 -4.09718877e+00] [-8.68513010e-02 -4.54650260e-03 9.96210912e-01 -5.88665604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.026296757000004 meters 0.07337031419243498 Centerline is valid? [True, True] Translation: X:50.27, Y:-4.10, Z:-5.89 [[ 9.67983526e-01 2.35983656e-01 8.55547039e-02 5.02664195e+01] [-2.35478641e-01 9.71746283e-01 -1.60925736e-02 -4.10412683e+00] [-8.69350499e-02 -4.56895930e-03 9.96203504e-01 -5.88963148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.056296757 meters 0.0738433535490559 Centerline is valid? [True, True] Translation: X:50.30, Y:-4.11, Z:-5.89 [[ 9.68049294e-01 2.35516002e-01 8.60974910e-02 5.02963817e+01] [-2.35000334e-01 9.71859916e-01 -1.62217799e-02 -4.11058403e+00] [-8.74951891e-02 -4.52945658e-03 9.96154645e-01 -5.89407137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.086296757 meters 0.0731577926811164 Centerline is valid? [True, True] Translation: X:50.33, Y:-4.12, Z:-5.90 [[ 9.68118126e-01 2.35049763e-01 8.65962050e-02 5.03275261e+01] [-2.34524477e-01 9.71972949e-01 -1.63357430e-02 -4.11971939e+00] [-8.80088812e-02 -4.49400078e-03 9.96109553e-01 -5.89667887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.116296757 meters 0.0744719900531839 Centerline is valid? [True, True] Translation: X:50.36, Y:-4.12, Z:-5.90 [[ 9.68266429e-01 2.34406957e-01 8.66804488e-02 5.03581876e+01] [-2.33876056e-01 9.72128522e-01 -1.63745739e-02 -4.12308714e+00] [-8.81028506e-02 -4.41753130e-03 9.96101588e-01 -5.90344477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.146296757 meters 0.07355350775272712 Centerline is valid? [True, True] Translation: X:50.39, Y:-4.13, Z:-5.91 [[ 9.68271668e-01 2.34206492e-01 8.71624725e-02 5.03884386e+01] [-2.33667034e-01 9.72176900e-01 -1.64861430e-02 -4.13310042e+00] [-8.85985040e-02 -4.40393126e-03 9.96057684e-01 -5.90631652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.176296757 meters 0.07405980950332205 Centerline is valid? [True, True] Translation: X:50.42, Y:-4.14, Z:-5.91 [[ 9.68232415e-01 2.34273197e-01 8.74188790e-02 5.04183506e+01] [-2.33728792e-01 9.72160841e-01 -1.65574759e-02 -4.14000012e+00] [-8.88641837e-02 -4.40082413e-03 9.96034030e-01 -5.90992830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.206296757000004 meters 0.07422795436326912 Centerline is valid? [True, True] Translation: X:50.45, Y:-4.15, Z:-5.91 [[ 9.68130444e-01 2.34438887e-01 8.81013776e-02 5.04497947e+01] [-2.33884782e-01 9.72120762e-01 -1.67072480e-02 -4.14607244e+00] [-8.95620070e-02 -4.43077607e-03 9.95971393e-01 -5.91418858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.236296757 meters 0.0745156510407582 Centerline is valid? [True, True] Translation: X:50.48, Y:-4.15, Z:-5.92 [[ 9.68039640e-01 2.34062980e-01 9.00765064e-02 5.04796880e+01] [-2.33479765e-01 9.72211159e-01 -1.71073784e-02 -4.15356774e+00] [-9.15775886e-02 -4.47042112e-03 9.95787909e-01 -5.91740539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.266296757 meters 0.07432521324546665 Centerline is valid? [True, True] Translation: X:50.51, Y:-4.16, Z:-5.92 [[ 9.67963325e-01 2.34239688e-01 9.04365570e-02 5.05101501e+01] [-2.33651604e-01 9.72168485e-01 -1.71861873e-02 -4.16168718e+00] [-9.19452577e-02 -4.49504757e-03 9.95753917e-01 -5.92088044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.296296757 meters 0.07402386258690163 Centerline is valid? [True, True] Translation: X:50.54, Y:-4.17, Z:-5.92 [[ 9.67755821e-01 2.34472358e-01 9.20401202e-02 5.05412615e+01] [-2.33862084e-01 9.72112020e-01 -1.75141566e-02 -4.16949789e+00] [-9.35798928e-02 -4.57526725e-03 9.95601261e-01 -5.92466188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.326296757 meters 0.07384814669663127 Centerline is valid? [True, True] Translation: X:50.57, Y:-4.18, Z:-5.93 [[ 9.67680027e-01 2.35512472e-01 9.01623062e-02 5.05720865e+01] [-2.34928950e-01 9.71860656e-01 -1.71829416e-02 -4.17689703e+00] [-9.16719951e-02 -4.55414650e-03 9.95778843e-01 -5.92890833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.356296757 meters 0.07427118164122386 Centerline is valid? [True, True] Translation: X:50.60, Y:-4.18, Z:-5.93 [[ 9.67802555e-01 2.35883694e-01 8.78470077e-02 5.06022105e+01] [-2.35331112e-01 9.71771020e-01 -1.67437305e-02 -4.18428907e+00] [-8.93167493e-02 -4.46850886e-03 9.95993248e-01 -5.93441993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.386296757000004 meters 0.07450651955940543 Centerline is valid? [True, True] Translation: X:50.63, Y:-4.19, Z:-5.94 [[ 9.67732482e-01 2.36490905e-01 8.69821572e-02 5.06325968e+01] [-2.35949571e-01 9.71623478e-01 -1.66017071e-02 -4.19274358e+00] [-8.84400588e-02 -4.45739147e-03 9.96071527e-01 -5.93840448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.416296757 meters 0.07412573616819292 Centerline is valid? [True, True] Translation: X:50.66, Y:-4.20, Z:-5.94 [[ 9.67727694e-01 2.36706987e-01 8.64460050e-02 5.06628736e+01] [-2.36172464e-01 9.71570932e-01 -1.65073378e-02 -4.20306140e+00] [-8.78958278e-02 -4.44155802e-03 9.96119770e-01 -5.94083751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.446296757 meters 0.07389231312055385 Centerline is valid? [True, True] Translation: X:50.69, Y:-4.21, Z:-5.95 [[ 9.67947564e-01 2.35875559e-01 8.62567861e-02 5.06940741e+01] [-2.35338148e-01 9.71773600e-01 -1.64932476e-02 -4.20982193e+00] [-8.77124215e-02 -4.33491338e-03 9.96136406e-01 -5.94657675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.476296757 meters 0.07391678414294921 Centerline is valid? [True, True] Translation: X:50.72, Y:-4.22, Z:-5.95 [[ 9.67974807e-01 2.36256898e-01 8.48967029e-02 5.07247938e+01] [-2.35735920e-01 9.71681206e-01 -1.62545389e-02 -4.21619478e+00] [-8.63327776e-02 -4.27921816e-03 9.96257165e-01 -5.95121645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.506296757 meters 0.07476344540746857 Centerline is valid? [True, True] Translation: X:50.75, Y:-4.22, Z:-5.96 [[ 9.68278990e-01 2.35263860e-01 8.41826246e-02 5.07544367e+01] [-2.34745750e-01 9.71922760e-01 -1.61425527e-02 -4.22291347e+00] [-8.56167681e-02 -4.13101873e-03 9.96319579e-01 -5.95655125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.536296757 meters 0.07420427519041727 Centerline is valid? [True, True] Translation: X:50.79, Y:-4.23, Z:-5.96 [[ 9.68490031e-01 2.34261737e-01 8.45487918e-02 5.07853672e+01] [-2.33734096e-01 9.72165143e-01 -1.62267607e-02 -4.23455056e+00] [-8.59966974e-02 -4.04647948e-03 9.96287205e-01 -5.95901711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.566296757 meters 0.07438535388573381 Centerline is valid? [True, True] Translation: X:50.81, Y:-4.24, Z:-5.96 [[ 9.68656785e-01 2.33576779e-01 8.45335544e-02 5.08148683e+01] [-2.33046422e-01 9.72330209e-01 -1.62274115e-02 -4.24257329e+00] [-8.59848752e-02 -3.98145018e-03 9.96288487e-01 -5.96282596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.596296757000005 meters 0.07412482220223801 Centerline is valid? [True, True] Translation: X:50.85, Y:-4.25, Z:-5.97 [[ 9.68755101e-01 2.32904035e-01 8.52599871e-02 5.08459015e+01] [-2.32360191e-01 9.72491756e-01 -1.63867435e-02 -4.25236693e+00] [-8.67311733e-02 -3.93628554e-03 9.96223975e-01 -5.96562843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.626296757 meters 0.07506389265015159 Centerline is valid? [True, True] Translation: X:50.88, Y:-4.25, Z:-5.97 [[ 9.68510924e-01 2.33063844e-01 8.75661791e-02 5.08773510e+01] [-2.32488798e-01 9.72453059e-01 -1.68524767e-02 -4.25452799e+00] [-8.90817018e-02 -4.03634797e-03 9.96016144e-01 -5.97090165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.656296757 meters 0.07514128376560529 Centerline is valid? [True, True] Translation: X:50.91, Y:-4.26, Z:-5.97 [[ 9.68359227e-01 2.33424970e-01 8.82790557e-02 5.09084169e+01] [-2.32840026e-01 9.72366250e-01 -1.70116865e-02 -4.26070794e+00] [-8.98105267e-02 -4.08147404e-03 9.95950506e-01 -5.97436653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.686296757 meters 0.07531186193981942 Centerline is valid? [True, True] Translation: X:50.94, Y:-4.27, Z:-5.98 [[ 9.68238560e-01 2.33688897e-01 8.89021362e-02 5.09394449e+01] [-2.33094807e-01 9.72302717e-01 -1.71533416e-02 -4.26790755e+00] [-9.04483340e-02 -4.11409953e-03 9.95892651e-01 -5.97806066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.716296757 meters 0.07444397761794402 Centerline is valid? [True, True] Translation: X:50.97, Y:-4.28, Z:-5.98 [[ 9.68277779e-01 2.33595346e-01 8.87206679e-02 5.09695608e+01] [-2.33001386e-01 9.72325356e-01 -1.71393421e-02 -4.28195436e+00] [-9.02690256e-02 -4.07639445e-03 9.95909075e-01 -5.97921150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.746296757 meters 0.07386259306063728 Centerline is valid? [True, True] Translation: X:51.00, Y:-4.29, Z:-5.98 [[ 9.68252097e-01 2.34335173e-01 8.70339151e-02 5.09995991e+01] [-2.33764435e-01 9.72147461e-01 -1.68375636e-02 -4.29422938e+00] [-8.85554329e-02 -4.04242778e-03 9.96063047e-01 -5.98068090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.776296757000004 meters 0.07421946808816682 Centerline is valid? [True, True] Translation: X:51.03, Y:-4.30, Z:-5.99 [[ 9.67997308e-01 2.35326915e-01 8.71920624e-02 5.10302607e+01] [-2.34757336e-01 9.71907489e-01 -1.68767903e-02 -4.29867971e+00] [-8.87141814e-02 -4.13228871e-03 9.96048552e-01 -5.98570309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.806296757 meters 0.07445750776339485 Centerline is valid? [True, True] Translation: X:51.06, Y:-4.30, Z:-5.99 [[ 9.67768869e-01 2.36307178e-01 8.70766016e-02 5.10611693e+01] [-2.35741255e-01 9.71669339e-01 -1.68747041e-02 -4.30381648e+00] [-8.85972777e-02 -4.19673403e-03 9.96058688e-01 -5.99067564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.836296757 meters 0.07525757695113518 Centerline is valid? [True, True] Translation: X:51.09, Y:-4.31, Z:-6.00 [[ 9.67119776e-01 2.38990876e-01 8.69637837e-02 5.10913544e+01] [-2.38435160e-01 9.71011780e-01 -1.68759585e-02 -4.30886730e+00] [-8.84760584e-02 -4.41415050e-03 9.96068523e-01 -5.99531520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.866296757 meters 0.07501938932285158 Centerline is valid? [True, True] Translation: X:51.12, Y:-4.32, Z:-6.00 [[ 9.66664119e-01 2.40435136e-01 8.80421897e-02 5.11225741e+01] [-2.39869799e-01 9.70654381e-01 -1.71041803e-02 -4.31846103e+00] [-8.95709830e-02 -4.58466496e-03 9.95969889e-01 -5.99737327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.896296757 meters 0.07581656958195836 Centerline is valid? [True, True] Translation: X:51.15, Y:-4.33, Z:-6.00 [[ 9.66141353e-01 2.42652257e-01 8.76970260e-02 5.11518078e+01] [-2.42097948e-01 9.70101734e-01 -1.70648457e-02 -4.32547252e+00] [-8.92158603e-02 -4.74421688e-03 9.96001015e-01 -5.99988745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.926296757 meters 0.07641062213372948 Centerline is valid? [True, True] Translation: X:51.18, Y:-4.33, Z:-6.00 [[ 9.65862087e-01 2.44060265e-01 8.68620465e-02 5.11833258e+01] [-2.43521768e-01 9.69748071e-01 -1.69064360e-02 -4.33133253e+00] [-8.83604913e-02 -4.82351356e-03 9.96076883e-01 -6.00450459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.956296757000004 meters 0.0774182999571804 Centerline is valid? [True, True] Translation: X:51.21, Y:-4.33, Z:-6.01 [[ 9.65062484e-01 2.47654257e-01 8.55673473e-02 5.12136974e+01] [-2.47145493e-01 9.68835198e-01 -1.66572579e-02 -4.33479542e+00] [-8.70258987e-02 -5.07228959e-03 9.96193136e-01 -6.00998352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.986296757 meters 0.07867482233646303 Centerline is valid? [True, True] Translation: X:51.24, Y:-4.34, Z:-6.02 [[ 9.64786808e-01 2.49121716e-01 8.44084440e-02 5.12442253e+01] [-2.48631001e-01 9.68458651e-01 -1.64458774e-02 -4.33789181e+00] [-8.58431130e-02 -5.11979036e-03 9.96295512e-01 -6.01541676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.016296757 meters 0.07950047017809951 Centerline is valid? [True, True] Translation: X:51.27, Y:-4.35, Z:-6.02 [[ 9.64714249e-01 2.50311837e-01 8.16725299e-02 5.12730444e+01] [-2.49854564e-01 9.68152197e-01 -1.59380105e-02 -4.34545942e+00] [-8.30609119e-02 -5.03062850e-03 9.96531775e-01 -6.02075831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.046296757 meters 0.07886329976118951 Centerline is valid? [True, True] Translation: X:51.30, Y:-4.36, Z:-6.02 [[ 9.64602394e-01 2.50630202e-01 8.20166064e-02 5.13040599e+01] [-2.50170813e-01 9.68069538e-01 -1.59979570e-02 -4.35593922e+00] [-8.34073494e-02 -5.08649356e-03 9.96502555e-01 -6.02308561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.076296757 meters 0.07864580655651847 Centerline is valid? [True, True] Translation: X:51.34, Y:-4.36, Z:-6.03 [[ 9.64738603e-01 2.50207264e-01 8.17052799e-02 5.13350834e+01] [-2.49747800e-01 9.68179352e-01 -1.59617908e-02 -4.36331877e+00] [-8.30991210e-02 -5.00675817e-03 9.96528709e-01 -6.02754742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.106296757 meters 0.0789565211622202 Centerline is valid? [True, True] Translation: X:51.37, Y:-4.37, Z:-6.03 [[ 9.64678274e-01 2.50139495e-01 8.26199775e-02 5.13653647e+01] [-2.49667601e-01 9.68196710e-01 -1.61622700e-02 -4.36816812e+00] [-8.40352125e-02 -5.03614089e-03 9.96450059e-01 -6.03163021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.136296757000004 meters 0.07742594403418666 Centerline is valid? [True, True] Translation: X:51.40, Y:-4.38, Z:-6.03 [[ 9.64721484e-01 2.48429234e-01 8.71514443e-02 5.13955982e+01] [-2.47895132e-01 9.68636439e-01 -1.70719968e-02 -4.38045365e+00] [-8.86592477e-02 -5.13469668e-03 9.96048780e-01 -6.02991301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.166296757 meters 0.07705987550594853 Centerline is valid? [True, True] Translation: X:51.43, Y:-4.39, Z:-6.03 [[ 9.64939969e-01 2.47229488e-01 8.81387374e-02 5.14257276e+01] [-2.46676670e-01 9.68943717e-01 -1.72827621e-02 -4.38853578e+00] [-8.96742842e-02 -5.06494226e-03 9.95958267e-01 -6.03181607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.196296757 meters 0.07705987550594853 Centerline is valid? [True, True] Translation: X:51.46, Y:-4.39, Z:-6.04 [[ 9.64871302e-01 2.47497659e-01 8.81378419e-02 5.14573432e+01] [-2.46945538e-01 9.68875147e-01 -1.72873306e-02 -4.39483121e+00] [-8.96731384e-02 -5.08519756e-03 9.95958267e-01 -6.03557506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.226296757 meters 0.07572111622950285 Centerline is valid? [True, True] Translation: X:51.49, Y:-4.41, Z:-6.04 [[ 9.65587361e-01 2.43942489e-01 9.01837642e-02 5.14872088e+01] [-2.43346028e-01 9.69777647e-01 -1.77207517e-02 -4.40636428e+00] [-9.17810429e-02 -4.83492693e-03 9.95767475e-01 -6.03725936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.256296757 meters 0.0755373663309354 Centerline is valid? [True, True] Translation: X:51.52, Y:-4.41, Z:-6.04 [[ 9.65888055e-01 2.42715928e-01 9.02731564e-02 5.15184435e+01] [-2.42112816e-01 9.70085916e-01 -1.77397897e-02 -4.41375243e+00] [-9.18784471e-02 -4.72163708e-03 9.95759036e-01 -6.04072583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.286296757 meters 0.0751985966833274 Centerline is valid? [True, True] Translation: X:51.55, Y:-4.42, Z:-6.04 [[ 9.66451837e-01 2.40124766e-01 9.11643757e-02 5.15474313e+01] [-2.39495547e-01 9.70731641e-01 -1.79433748e-02 -4.42109950e+00] [-9.28047927e-02 -4.49205449e-03 9.95674190e-01 -6.04491435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.316296757 meters 0.07569319540806019 Centerline is valid? [True, True] Translation: X:51.58, Y:-4.43, Z:-6.05 [[ 9.66532752e-01 2.40113260e-01 9.03330649e-02 5.15791210e+01] [-2.39495537e-01 9.70734677e-01 -1.77785086e-02 -4.42574917e+00] [-9.19582942e-02 -4.45085510e-03 9.95752912e-01 -6.04994344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.346296757000005 meters 0.07502726339619556 Centerline is valid? [True, True] Translation: X:51.61, Y:-4.43, Z:-6.05 [[ 9.66532729e-01 2.40202655e-01 9.00953251e-02 5.16109096e+01] [-2.39586378e-01 9.70712681e-01 -1.77555082e-02 -4.43421455e+00] [-9.17215948e-02 -4.42433283e-03 9.95774861e-01 -6.05287956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.376296757 meters 0.07593138195898022 Centerline is valid? [True, True] Translation: X:51.64, Y:-4.44, Z:-6.06 [[ 9.66345658e-01 2.41458324e-01 8.87352597e-02 5.16415984e+01] [-2.40863024e-01 9.70401012e-01 -1.75180008e-02 -4.43567269e+00] [-9.03386529e-02 -4.44459904e-03 9.95901187e-01 -6.05844728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.406296757 meters 0.07720379540754921 Centerline is valid? [True, True] Translation: X:51.67, Y:-4.44, Z:-6.06 [[ 9.65915855e-01 2.43920442e-01 8.66566763e-02 5.16713920e+01] [-2.43361617e-01 9.69784553e-01 -1.71185061e-02 -4.43821248e+00] [-8.82138597e-02 -4.55387245e-03 9.96091149e-01 -6.06339539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.436296757 meters 0.07768239911940679 Centerline is valid? [True, True] Translation: X:51.70, Y:-4.44, Z:-6.07 [[ 9.65452549e-01 2.45525568e-01 8.72844294e-02 5.17032245e+01] [-2.44965560e-01 9.69378530e-01 -1.72377730e-02 -4.44312565e+00] [-8.88439659e-02 -4.73942730e-03 9.96034280e-01 -6.06688250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.466296757 meters 0.07711068499921339 Centerline is valid? [True, True] Translation: X:51.73, Y:-4.45, Z:-6.07 [[ 9.65115342e-01 2.46745342e-01 8.75734752e-02 5.17339577e+01] [-2.46184691e-01 9.69068234e-01 -1.73163323e-02 -4.45052232e+00] [-8.91373973e-02 -4.84699088e-03 9.96007546e-01 -6.07025586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.496296757 meters 0.07757486850892904 Centerline is valid? [True, True] Translation: X:51.76, Y:-4.45, Z:-6.07 [[ 9.64781667e-01 2.48219772e-01 8.70820329e-02 5.17649509e+01] [-2.47669367e-01 9.68691184e-01 -1.72416725e-02 -4.45361901e+00] [-8.86353215e-02 -4.93310244e-03 9.96051929e-01 -6.07465303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.526296757000004 meters 0.0777038750342204 Centerline is valid? [True, True] Translation: X:51.80, Y:-4.46, Z:-6.08 [[ 9.64623460e-01 2.48789424e-01 8.72089663e-02 5.17963330e+01] [-2.48237928e-01 9.68544831e-01 -1.72870039e-02 -4.46014334e+00] [-8.87666173e-02 -4.97312362e-03 9.96040037e-01 -6.07861548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.556296757 meters 0.07793297944804724 Centerline is valid? [True, True] Translation: X:51.83, Y:-4.47, Z:-6.08 [[ 9.64949580e-01 2.47837481e-01 8.63069580e-02 5.18261110e+01] [-2.47291607e-01 9.68789666e-01 -1.71302353e-02 -4.46742494e+00] [-8.78588034e-02 -4.81317292e-03 9.96121310e-01 -6.08207941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.586296757 meters 0.07778770123819662 Centerline is valid? [True, True] Translation: X:51.86, Y:-4.48, Z:-6.09 [[ 9.64948931e-01 2.47827405e-01 8.63431397e-02 5.18570039e+01] [-2.47279309e-01 9.68792332e-01 -1.71569411e-02 -4.47594582e+00] [-8.79005319e-02 -4.79529994e-03 9.96117715e-01 -6.08589762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.616296757 meters 0.07793567402451856 Centerline is valid? [True, True] Translation: X:51.89, Y:-4.48, Z:-6.09 [[ 9.65729162e-01 2.45627075e-01 8.38720845e-02 5.18866156e+01] [-2.45099671e-01 9.69354232e-01 -1.66890456e-02 -4.48249516e+00] [-8.54010415e-02 -4.43992231e-03 9.96336765e-01 -6.09154037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.646296757 meters 0.07785246704198431 Centerline is valid? [True, True] Translation: X:51.92, Y:-4.49, Z:-6.10 [[ 9.65769205e-01 2.45233469e-01 8.45599720e-02 5.19179744e+01] [-2.44695094e-01 9.69453917e-01 -1.68349183e-02 -4.48880859e+00] [-8.61054814e-02 -4.43276468e-03 9.96276165e-01 -6.09601681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.676296757 meters 0.07787718443874828 Centerline is valid? [True, True] Translation: X:51.95, Y:-4.49, Z:-6.10 [[ 9.65974665e-01 2.44473730e-01 8.44129293e-02 5.19481917e+01] [-2.43932501e-01 9.69646218e-01 -1.68269392e-02 -4.49393171e+00] [-8.59644222e-02 -4.33666006e-03 9.96288769e-01 -6.10041453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.706296757000004 meters 0.07819873715171352 Centerline is valid? [True, True] Translation: X:51.98, Y:-4.50, Z:-6.10 [[ 9.65791341e-01 2.44650540e-01 8.59837165e-02 5.19795538e+01] [-2.44087952e-01 9.69601269e-01 -1.71595732e-02 -4.49880773e+00] [-8.75680194e-02 -4.41502207e-03 9.96148759e-01 -6.10402722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.736296757 meters 0.0765493171611931 Centerline is valid? [True, True] Translation: X:52.01, Y:-4.51, Z:-6.10 [[ 9.65608691e-01 2.45042258e-01 8.69146027e-02 5.20102092e+01] [-2.44467140e-01 9.69502054e-01 -1.73662178e-02 -4.51092549e+00] [-8.85193430e-02 -4.47879344e-03 9.96064389e-01 -6.10350479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.766296757 meters 0.07880082521903425 Centerline is valid? [True, True] Translation: X:52.04, Y:-4.51, Z:-6.11 [[ 9.65215231e-01 2.45851660e-01 8.89748212e-02 5.20419128e+01] [-2.45249968e-01 9.69296377e-01 -1.78041213e-02 -4.50965102e+00] [-9.06201446e-02 -4.63626301e-03 9.95874738e-01 -6.10903422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.796296757 meters 0.07890386897316404 Centerline is valid? [True, True] Translation: X:52.07, Y:-4.51, Z:-6.11 [[ 9.65203602e-01 2.45257754e-01 9.07228756e-02 5.20733915e+01] [-2.44628099e-01 9.69446727e-01 -1.81696591e-02 -4.51422109e+00] [-9.24072446e-02 -4.65594417e-03 9.95710411e-01 -6.11155363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.826296757 meters 0.0758465186917557 Centerline is valid? [True, True] Translation: X:52.10, Y:-4.53, Z:-6.11 [[ 9.64972802e-01 2.45077364e-01 9.36193178e-02 5.21046815e+01] [-2.44405588e-01 9.69491722e-01 -1.87539327e-02 -4.52586729e+00] [-9.53593180e-02 -4.78404945e-03 9.95431421e-01 -6.11010947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.856296757 meters 0.07612148618390673 Centerline is valid? [True, True] Translation: X:52.14, Y:-4.53, Z:-6.11 [[ 9.64885637e-01 2.45742506e-01 9.27702971e-02 5.21358872e+01] [-2.45085395e-01 9.69323259e-01 -1.85894502e-02 -4.53011588e+00] [-9.44926248e-02 -4.79995142e-03 9.95513990e-01 -6.11338172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.886296757000004 meters 0.07619430857275647 Centerline is valid? [True, True] Translation: X:52.17, Y:-4.54, Z:-6.12 [[ 9.65203930e-01 2.45293364e-01 9.06230618e-02 5.21674018e+01] [-2.44662475e-01 9.69437865e-01 -1.81796118e-02 -4.53542990e+00] [-9.23127657e-02 -4.62502989e-03 9.95719319e-01 -6.11710852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.916296757000005 meters 0.07656558224174875 Centerline is valid? [True, True] Translation: X:52.20, Y:-4.54, Z:-6.12 [[ 9.65242165e-01 2.45396323e-01 8.99344571e-02 5.21984565e+01] [-2.44773400e-01 9.69412032e-01 -1.80636188e-02 -4.54028590e+00] [-9.16162904e-02 -4.57779626e-03 9.95783862e-01 -6.12155893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.946296757 meters 0.0764693837045534 Centerline is valid? [True, True] Translation: X:52.23, Y:-4.54, Z:-6.13 [[ 9.65388498e-01 2.45185076e-01 8.89343885e-02 5.22299781e+01] [-2.44572479e-01 9.69465943e-01 -1.78909809e-02 -4.54405887e+00] [-9.06054624e-02 -4.47915664e-03 9.95876793e-01 -6.12578896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.976296757 meters 0.07638187152310942 Centerline is valid? [True, True] Translation: X:52.26, Y:-4.55, Z:-6.13 [[ 9.65213210e-01 2.45780352e-01 8.91934831e-02 5.22618261e+01] [-2.45166416e-01 9.69314892e-01 -1.79462920e-02 -4.54858781e+00] [-9.08674174e-02 -4.54524851e-03 9.95852626e-01 -6.13033966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.006296757 meters 0.07595135133740356 Centerline is valid? [True, True] Translation: X:52.29, Y:-4.55, Z:-6.13 [[ 9.65435713e-01 2.45353523e-01 8.79518738e-02 5.22944042e+01] [-2.44752521e-01 9.69423611e-01 -1.77218909e-02 -4.55457128e+00] [-8.96107515e-02 -4.41709645e-03 9.95967069e-01 -6.13430054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.036296757 meters 0.07591200491508407 Centerline is valid? [True, True] Translation: X:52.32, Y:-4.56, Z:-6.14 [[ 9.65845852e-01 2.44080364e-01 8.69860147e-02 5.23245531e+01] [-2.43484971e-01 9.69745803e-01 -1.75540867e-02 -4.56047622e+00] [-8.86389306e-02 -4.22524545e-03 9.96054862e-01 -6.14137220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.066296757 meters 0.07607816643207282 Centerline is valid? [True, True] Translation: X:52.35, Y:-4.57, Z:-6.15 [[ 9.66021367e-01 2.43112517e-01 8.77440754e-02 5.23543326e+01] [-2.42500885e-01 9.69989205e-01 -1.77274787e-02 -4.56662351e+00] [-8.94205779e-02 -4.15289270e-03 9.95985298e-01 -6.14663206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.096296757000005 meters 0.07453821758472369 Centerline is valid? [True, True] Translation: X:52.38, Y:-4.58, Z:-6.15 [[ 9.66600672e-01 2.40728096e-01 8.79381844e-02 5.23841661e+01] [-2.40101509e-01 9.70584699e-01 -1.77934731e-02 -4.57995414e+00] [-8.96348451e-02 -3.91490776e-03 9.95967001e-01 -6.14816424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.126296757 meters 0.07494789941521594 Centerline is valid? [True, True] Translation: X:52.41, Y:-4.59, Z:-6.15 [[ 9.66818038e-01 2.39943045e-01 8.76938794e-02 5.24140644e+01] [-2.39316702e-01 9.70779407e-01 -1.77442583e-02 -4.58517319e+00] [-8.93890236e-02 -3.83114099e-03 9.95989420e-01 -6.15302414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.156296757 meters 0.07430065924821258 Centerline is valid? [True, True] Translation: X:52.45, Y:-4.59, Z:-6.16 [[ 9.67152858e-01 2.38643452e-01 8.75479985e-02 5.24450792e+01] [-2.38012090e-01 9.71100264e-01 -1.77347891e-02 -4.59126964e+00] [-8.92501757e-02 -3.68523016e-03 9.96002422e-01 -6.15641520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.186296757 meters 0.0744842911754447 Centerline is valid? [True, True] Translation: X:52.48, Y:-4.60, Z:-6.16 [[ 9.67196344e-01 2.38488686e-01 8.74893095e-02 5.24760583e+01] [-2.37855578e-01 9.71138428e-01 -1.77448240e-02 -4.59602731e+00] [-8.91961702e-02 -3.64709136e-03 9.96007401e-01 -6.16144528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.216296757 meters 0.07493100463206533 Centerline is valid? [True, True] Translation: X:52.51, Y:-4.60, Z:-6.16 [[ 9.66987666e-01 2.38887778e-01 8.86988314e-02 5.25065733e+01] [-2.38236611e-01 9.71040084e-01 -1.80131326e-02 -4.60294821e+00] [-9.04332379e-02 -3.71283195e-03 9.95895599e-01 -6.16389474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.246296757 meters 0.07498352946384154 Centerline is valid? [True, True] Translation: X:52.54, Y:-4.61, Z:-6.17 [[ 9.66675000e-01 2.39793949e-01 8.96566045e-02 5.25384471e+01] [-2.39130698e-01 9.70816292e-01 -1.82273853e-02 -4.61128186e+00] [-9.14109090e-02 -3.81968871e-03 9.95805933e-01 -6.16632902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.276296757000004 meters 0.07408996284317514 Centerline is valid? [True, True] Translation: X:52.57, Y:-4.62, Z:-6.16 [[ 9.66382407e-01 2.40176530e-01 9.17620722e-02 5.25698108e+01] [-2.39480571e-01 9.70721324e-01 -1.86860203e-02 -4.62301810e+00] [-9.35633437e-02 -3.91739216e-03 9.95605622e-01 -6.16488040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.306296757 meters 0.07389272019844706 Centerline is valid? [True, True] Translation: X:52.60, Y:-4.63, Z:-6.17 [[ 9.66306455e-01 2.40629229e-01 9.13751051e-02 5.26008659e+01] [-2.39940713e-01 9.70609114e-01 -1.86118886e-02 -4.62925142e+00] [-9.31680742e-02 -3.93981981e-03 9.95642600e-01 -6.16890810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.336296757 meters 0.07473521370289786 Centerline is valid? [True, True] Translation: X:52.63, Y:-4.63, Z:-6.18 [[ 9.66025877e-01 2.41173868e-01 9.28933257e-02 5.26313983e+01] [-2.40462380e-01 9.70473537e-01 -1.89461990e-02 -4.63045632e+00] [-9.47198425e-02 -4.03483171e-03 9.95495792e-01 -6.17559921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.366296757 meters 0.07513415077188809 Centerline is valid? [True, True] Translation: X:52.66, Y:-4.64, Z:-6.18 [[ 9.65771708e-01 2.42542399e-01 9.19684295e-02 5.26632065e+01] [-2.41849175e-01 9.70132117e-01 -1.87790582e-02 -4.63511957e+00] [-9.37762450e-02 -4.10620563e-03 9.95584831e-01 -6.18060045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.396296757 meters 0.07512230627062542 Centerline is valid? [True, True] Translation: X:52.69, Y:-4.64, Z:-6.18 [[ 9.65639214e-01 2.43527864e-01 9.07473809e-02 5.26939225e+01] [-2.42855173e-01 9.69885135e-01 -1.85523472e-02 -4.64244676e+00] [-9.25325493e-02 -4.12359700e-03 9.95701121e-01 -6.18331630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.426296757 meters 0.076321383326182 Centerline is valid? [True, True] Translation: X:52.72, Y:-4.64, Z:-6.19 [[ 9.65585814e-01 2.44533963e-01 8.85842956e-02 5.27244745e+01] [-2.43895330e-01 9.69632066e-01 -1.81307674e-02 -4.64461666e+00] [-9.03277619e-02 -4.09848424e-03 9.95903659e-01 -6.18958440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.456296757000004 meters 0.0760893590189931 Centerline is valid? [True, True] Translation: X:52.76, Y:-4.65, Z:-6.19 [[ 9.65745170e-01 2.44052606e-01 8.81736498e-02 5.27558349e+01] [-2.43415673e-01 9.69753701e-01 -1.80712520e-02 -4.65175887e+00] [-8.99170594e-02 -4.01062399e-03 9.95941182e-01 -6.19256119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.486296757 meters 0.07679729478210172 Centerline is valid? [True, True] Translation: X:52.79, Y:-4.65, Z:-6.20 [[ 9.65600013e-01 2.43882360e-01 9.02109204e-02 5.27872782e+01] [-2.43214452e-01 9.69796227e-01 -1.84934901e-02 -4.65431330e+00] [-9.19964462e-02 -4.08328535e-03 9.95750963e-01 -6.19752500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.516296757 meters 0.0764499642476871 Centerline is valid? [True, True] Translation: X:52.82, Y:-4.66, Z:-6.20 [[ 9.65404965e-01 2.44243748e-01 9.13139934e-02 5.28183511e+01] [-2.43558783e-01 9.69705010e-01 -1.87433235e-02 -4.66052070e+00] [-9.31255765e-02 -4.14542756e-03 9.95645741e-01 -6.20004925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.546296757 meters 0.07640941184323943 Centerline is valid? [True, True] Translation: X:52.85, Y:-4.67, Z:-6.20 [[ 9.65275469e-01 2.44992161e-01 9.06758552e-02 5.28485719e+01] [-2.44317561e-01 9.69516126e-01 -1.86389471e-02 -4.66570416e+00] [-9.24780998e-02 -4.16198544e-03 9.95706020e-01 -6.20182291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.576296757 meters 0.07653619647703476 Centerline is valid? [True, True] Translation: X:52.88, Y:-4.67, Z:-6.21 [[ 9.65217876e-01 2.44719999e-01 9.20139909e-02 5.28786260e+01] [-2.44023615e-01 9.69584728e-01 -1.89190617e-02 -4.67129448e+00] [-9.38452331e-02 -4.19257021e-03 9.95577970e-01 -6.20610904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.606296757 meters 0.07525082340006209 Centerline is valid? [True, True] Translation: X:52.91, Y:-4.68, Z:-6.21 [[ 9.65358822e-01 2.43858683e-01 9.28185738e-02 5.29090825e+01] [-2.43144090e-01 9.69802006e-01 -1.91055179e-02 -4.68247403e+00] [-9.46746855e-02 -4.12460743e-03 9.95499720e-01 -6.20775066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.636296757000004 meters 0.07570635067477594 Centerline is valid? [True, True] Translation: X:52.94, Y:-4.69, Z:-6.21 [[ 9.65250712e-01 2.43960274e-01 9.36720249e-02 5.29393294e+01] [-2.43230382e-01 9.69776360e-01 -1.93078682e-02 -4.68708982e+00] [-9.55512681e-02 -4.14694886e-03 9.95415872e-01 -6.21231307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.666296757000005 meters 0.07551536061840104 Centerline is valid? [True, True] Translation: X:52.97, Y:-4.69, Z:-6.22 [[ 9.65268389e-01 2.43973042e-01 9.34563679e-02 5.29712555e+01] [-2.43245524e-01 9.69773229e-01 -1.92743368e-02 -4.69326282e+00] [-9.53339022e-02 -4.12793523e-03 9.95436792e-01 -6.21680921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.696296757 meters 0.07539022289588945 Centerline is valid? [True, True] Translation: X:53.00, Y:-4.70, Z:-6.22 [[ 9.65542493e-01 2.43219862e-01 9.25839781e-02 5.30017881e+01] [-2.42499875e-01 9.69962981e-01 -1.91213258e-02 -4.70094599e+00] [-9.44537177e-02 -3.98915061e-03 9.95521261e-01 -6.22077049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.726296757 meters 0.07538958305553592 Centerline is valid? [True, True] Translation: X:53.03, Y:-4.71, Z:-6.22 [[ 9.66262958e-01 2.40649167e-01 9.17816687e-02 5.30320909e+01] [-2.39927524e-01 9.70605195e-01 -1.89825790e-02 -4.71049250e+00] [-9.36519063e-02 -3.67878554e-03 9.95598206e-01 -6.22471031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.756296757 meters 0.07505733041859042 Centerline is valid? [True, True] Translation: X:53.06, Y:-4.72, Z:-6.23 [[ 9.66430482e-01 2.40378606e-01 9.07207218e-02 5.30636094e+01] [-2.39672236e-01 9.70672501e-01 -1.87647200e-02 -4.71984284e+00] [-9.25707472e-02 -3.60844084e-03 9.95699571e-01 -6.22912298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.786296757 meters 0.0752953268057025 Centerline is valid? [True, True] Translation: X:53.10, Y:-4.72, Z:-6.23 [[ 9.66303422e-01 2.40831012e-01 9.08741952e-02 5.30951750e+01] [-2.40121736e-01 9.70560268e-01 -1.88233422e-02 -4.72454794e+00] [-9.27321278e-02 -3.63180950e-03 9.95684469e-01 -6.23365202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.816296757 meters 0.07541662666455996 Centerline is valid? [True, True] Translation: X:53.13, Y:-4.73, Z:-6.24 [[ 9.65688377e-01 2.42686960e-01 9.24607902e-02 5.31269231e+01] [-2.41958707e-01 9.70097006e-01 -1.91776694e-02 -4.72873521e+00] [-9.43501061e-02 -3.85204080e-03 9.95531626e-01 -6.23782778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.846296757000005 meters 0.07705767599115536 Centerline is valid? [True, True] Translation: X:53.16, Y:-4.73, Z:-6.25 [[ 9.65233234e-01 2.43921954e-01 9.39514993e-02 5.31583778e+01] [-2.43173572e-01 9.69786556e-01 -1.95102669e-02 -4.72971344e+00] [-9.58718833e-02 -4.01456367e-03 9.95385586e-01 -6.24515315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.876296757 meters 0.0747684374677208 Centerline is valid? [True, True] Translation: X:53.19, Y:-4.75, Z:-6.24 [[ 9.64978452e-01 2.45291188e-01 9.29990368e-02 5.31883311e+01] [-2.44561582e-01 9.69440859e-01 -1.93404506e-02 -4.74601353e+00] [-9.49011083e-02 -4.08087346e-03 9.95478340e-01 -6.24421404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.906296757 meters 0.07616693716866382 Centerline is valid? [True, True] Translation: X:53.22, Y:-4.75, Z:-6.25 [[ 9.64543756e-01 2.46472366e-01 9.43754004e-02 5.32192782e+01] [-2.45726218e-01 9.69140475e-01 -1.96307113e-02 -4.74803475e+00] [-9.63014482e-02 -4.25583025e-03 9.95343116e-01 -6.24942046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.936296757 meters 0.07613118160308512 Centerline is valid? [True, True] Translation: X:53.25, Y:-4.75, Z:-6.25 [[ 9.64178071e-01 2.47472610e-01 9.54879784e-02 5.32504483e+01] [-2.46711377e-01 9.68884966e-01 -1.98851387e-02 -4.75416141e+00] [-9.74378939e-02 -4.38515602e-03 9.95231946e-01 -6.25306855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.966296757 meters 0.0772344515749963 Centerline is valid? [True, True] Translation: X:53.28, Y:-4.76, Z:-6.26 [[ 9.63545386e-01 2.50137362e-01 9.49293907e-02 5.32808393e+01] [-2.49395328e-01 9.68199425e-01 -1.97950618e-02 -4.75693950e+00] [-9.68620660e-02 -4.60150606e-03 9.95287178e-01 -6.25842378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.996296757 meters 0.07524340972513778 Centerline is valid? [True, True] Translation: X:53.31, Y:-4.77, Z:-6.26 [[ 9.63252510e-01 2.51247128e-01 9.49709536e-02 5.33110302e+01] [-2.50509571e-01 9.67911499e-01 -1.98061767e-02 -4.77130641e+00] [-9.68997231e-02 -4.71278339e-03 9.95282992e-01 -6.25898028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.026296757000004 meters 0.0768666112334415 Centerline is valid? [True, True] Translation: X:53.34, Y:-4.77, Z:-6.26 [[ 9.63115417e-01 2.52471542e-01 9.30957272e-02 5.33423020e+01] [-2.51766244e-01 9.67592826e-01 -1.94391570e-02 -4.77221892e+00] [-9.49865918e-02 -4.71620973e-03 9.95467380e-01 -6.26442668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.056296757 meters 0.07570608656745015 Centerline is valid? [True, True] Translation: X:53.37, Y:-4.78, Z:-6.27 [[ 9.63138739e-01 2.52418023e-01 9.29995282e-02 5.33728373e+01] [-2.51711827e-01 9.67606943e-01 -1.94411743e-02 -4.78396998e+00] [-9.48942920e-02 -4.68453304e-03 9.95476332e-01 -6.26647921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.086296757 meters 0.07570608656745015 Centerline is valid? [True, True] Translation: X:53.40, Y:-4.79, Z:-6.27 [[ 9.63068304e-01 2.52688327e-01 9.29949046e-02 5.34043575e+01] [-2.51981258e-01 9.67536370e-01 -1.94632631e-02 -4.79064602e+00] [-9.48940918e-02 -4.68852123e-03 9.95476333e-01 -6.27024374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.116296757 meters 0.07585038541817392 Centerline is valid? [True, True] Translation: X:53.43, Y:-4.80, Z:-6.27 [[ 9.63148030e-01 2.52527869e-01 9.26042524e-02 5.34340624e+01] [-2.51823329e-01 9.67578565e-01 -1.94095860e-02 -4.79716294e+00] [-9.45033511e-02 -4.62560658e-03 9.95513797e-01 -6.27450421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.146296757 meters 0.07606317640278136 Centerline is valid? [True, True] Translation: X:53.47, Y:-4.81, Z:-6.28 [[ 9.63102119e-01 2.52212610e-01 9.39314019e-02 5.34651631e+01] [-2.51484087e-01 9.67660722e-01 -1.97099038e-02 -4.80514126e+00] [-9.58648145e-02 -4.63960276e-03 9.95383550e-01 -6.27761794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.176296757 meters 0.07601114304505421 Centerline is valid? [True, True] Translation: X:53.50, Y:-4.81, Z:-6.28 [[ 9.62975142e-01 2.51722649e-01 9.65120910e-02 5.34964046e+01] [-2.50948567e-01 9.67788033e-01 -2.02765816e-02 -4.81184345e+00] [-9.85073215e-02 -4.69372694e-03 9.95125257e-01 -6.28099154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.206296757000004 meters 0.07540578748502438 Centerline is valid? [True, True] Translation: X:53.53, Y:-4.82, Z:-6.28 [[ 9.63120693e-01 2.51600200e-01 9.53722710e-02 5.35277319e+01] [-2.50841485e-01 9.67820309e-01 -2.00599009e-02 -4.82109724e+00] [-9.73502958e-02 -4.60321645e-03 9.95239534e-01 -6.28468719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.236296757 meters 0.07580405911519199 Centerline is valid? [True, True] Translation: X:53.56, Y:-4.83, Z:-6.29 [[ 9.63156970e-01 2.51497554e-01 9.52766045e-02 5.35581401e+01] [-2.50737025e-01 9.67847192e-01 -2.00688085e-02 -4.82700414e+00] [-9.72604504e-02 -4.55995960e-03 9.95248517e-01 -6.28975652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.266296757 meters 0.075588912191467 Centerline is valid? [True, True] Translation: X:53.59, Y:-4.84, Z:-6.29 [[ 9.63395212e-01 2.50179290e-01 9.63326986e-02 5.35882166e+01] [-2.49392645e-01 9.68189295e-01 -2.03174071e-02 -4.83626829e+00] [-9.83512821e-02 -4.45097379e-03 9.95141806e-01 -6.29446305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.296296757 meters 0.07573062124335869 Centerline is valid? [True, True] Translation: X:53.62, Y:-4.84, Z:-6.30 [[ 9.63339267e-01 2.50601577e-01 9.57930386e-02 5.36186461e+01] [-2.49825439e-01 9.68080014e-01 -2.02073460e-02 -4.84215263e+00] [-9.77993189e-02 -4.46500804e-03 9.95196140e-01 -6.29962306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.326296757 meters 0.07492924087108987 Centerline is valid? [True, True] Translation: X:53.65, Y:-4.85, Z:-6.30 [[ 9.63498929e-01 2.50561684e-01 9.42796762e-02 5.36486043e+01] [-2.49808729e-01 9.68090729e-01 -1.98982503e-02 -4.85229006e+00] [-9.62570195e-02 -4.37994317e-03 9.95346875e-01 -6.30381356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.356296757 meters 0.07505288851134861 Centerline is valid? [True, True] Translation: X:53.68, Y:-4.86, Z:-6.31 [[ 9.63299061e-01 2.51143489e-01 9.47727146e-02 5.36809494e+01] [-2.50383109e-01 9.67939693e-01 -2.00262065e-02 -4.85845764e+00] [-9.67637237e-02 -4.43826100e-03 9.95297485e-01 -6.30912575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.386296757000004 meters 0.07536517678329165 Centerline is valid? [True, True] Translation: X:53.71, Y:-4.86, Z:-6.31 [[ 9.62938438e-01 2.52085865e-01 9.59285241e-02 5.37118957e+01] [-2.51308609e-01 9.67694124e-01 -2.02993924e-02 -4.86392287e+00] [-9.79466590e-02 -4.56059877e-03 9.95181216e-01 -6.31353615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.416296757000005 meters 0.07504147129620942 Centerline is valid? [True, True] Translation: X:53.74, Y:-4.87, Z:-6.32 [[ 9.62809344e-01 2.52542753e-01 9.60225195e-02 5.37434937e+01] [-2.51763662e-01 9.67574867e-01 -2.03453792e-02 -4.87212510e+00] [-9.80470546e-02 -4.58625987e-03 9.95171212e-01 -6.31579499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.446296757 meters 0.07446234836220635 Centerline is valid? [True, True] Translation: X:53.77, Y:-4.88, Z:-6.32 [[ 9.62460278e-01 2.53443444e-01 9.71423432e-02 5.37743567e+01] [-2.52647702e-01 9.67338765e-01 -2.06119244e-02 -4.88181390e+00] [-9.91935115e-02 -4.70463128e-03 9.95057040e-01 -6.31700447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.476296757 meters 0.07460761323105289 Centerline is valid? [True, True] Translation: X:53.81, Y:-4.89, Z:-6.32 [[ 9.62379152e-01 2.53591194e-01 9.75595879e-02 5.38055713e+01] [-2.52786538e-01 9.67300002e-01 -2.07285480e-02 -4.88747491e+00] [-9.96259668e-02 -4.71302802e-03 9.95013796e-01 -6.32043134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.506296757 meters 0.07541881327778267 Centerline is valid? [True, True] Translation: X:53.84, Y:-4.89, Z:-6.33 [[ 9.62258756e-01 2.54325806e-01 9.68321794e-02 5.38362973e+01] [-2.53536171e-01 9.67106950e-01 -2.05804944e-02 -4.88959624e+00] [-9.88812245e-02 -4.74669912e-03 9.95087922e-01 -6.32677608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.536296757 meters 0.07516665042432587 Centerline is valid? [True, True] Translation: X:53.87, Y:-4.90, Z:-6.33 [[ 9.61691331e-01 2.57109416e-01 9.51027447e-02 5.38664534e+01] [-2.56359082e-01 9.66369775e-01 -2.02356114e-02 -4.89510352e+00] [-9.71071842e-02 -4.92004023e-03 9.95261769e-01 -6.33323164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.566296757 meters 0.07548175509785504 Centerline is valid? [True, True] Translation: X:53.90, Y:-4.90, Z:-6.34 [[ 9.61309420e-01 2.58649196e-01 9.47881454e-02 5.38969349e+01] [-2.57909191e-01 9.65958184e-01 -2.01900059e-02 -4.90053393e+00] [-9.67835136e-02 -5.03789100e-03 9.95292706e-01 -6.33966140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.596296757000005 meters 0.07592233379818727 Centerline is valid? [True, True] Translation: X:53.93, Y:-4.91, Z:-6.34 [[ 9.60959219e-01 2.59821132e-01 9.51333693e-02 5.39286802e+01] [-2.59078960e-01 9.65643026e-01 -2.02888713e-02 -4.90576752e+00] [-9.71363522e-02 -5.15027652e-03 9.95257757e-01 -6.34366344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.626296757 meters 0.07637709056384151 Centerline is valid? [True, True] Translation: X:53.96, Y:-4.91, Z:-6.35 [[ 9.60784095e-01 2.60230469e-01 9.57811341e-02 5.39601436e+01] [-2.59479613e-01 9.65532410e-01 -2.04326909e-02 -4.91089725e+00] [-9.77969980e-02 -5.22184718e-03 9.95192685e-01 -6.34735091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.656296757 meters 0.07629239318010039 Centerline is valid? [True, True] Translation: X:53.99, Y:-4.92, Z:-6.35 [[ 9.60619850e-01 2.60774520e-01 9.59487057e-02 5.39909358e+01] [-2.60021096e-01 9.65385403e-01 -2.04952140e-02 -4.91755729e+00] [-9.79721095e-02 -5.26057818e-03 9.95175257e-01 -6.35062067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.686296757 meters 0.07628820849576745 Centerline is valid? [True, True] Translation: X:54.02, Y:-4.92, Z:-6.35 [[ 9.60478143e-01 2.61285079e-01 9.59783541e-02 5.40225806e+01] [-2.60531316e-01 9.65247179e-01 -2.05259922e-02 -4.92402028e+00] [-9.80059710e-02 -5.29060002e-03 9.95171764e-01 -6.35422924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.716296757 meters 0.07702181178641086 Centerline is valid? [True, True] Translation: X:54.05, Y:-4.93, Z:-6.36 [[ 9.60243818e-01 2.62017687e-01 9.63251877e-02 5.40533024e+01] [-2.61259696e-01 9.65048180e-01 -2.06247569e-02 -4.92812301e+00] [-9.83624982e-02 -5.36109392e-03 9.95136211e-01 -6.35792458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.746296757 meters 0.07732582842226961 Centerline is valid? [True, True] Translation: X:54.08, Y:-4.93, Z:-6.36 [[ 9.60076258e-01 2.63009841e-01 9.52859003e-02 5.40841703e+01] [-2.62270643e-01 9.64778150e-01 -2.04262264e-02 -4.93211421e+00] [-9.73020532e-02 -5.37995929e-03 9.95240356e-01 -6.36084358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.776296757000004 meters 0.0772978463689742 Centerline is valid? [True, True] Translation: X:54.12, Y:-4.94, Z:-6.36 [[ 9.59937545e-01 2.63514042e-01 9.52903916e-02 5.41154208e+01] [-2.62775093e-01 9.64640390e-01 -2.04491831e-02 -4.93780604e+00] [-9.73096074e-02 -5.41000285e-03 9.95239455e-01 -6.36403519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.806296757 meters 0.07598510734174116 Centerline is valid? [True, True] Translation: X:54.15, Y:-4.95, Z:-6.36 [[ 9.59543061e-01 2.64045808e-01 9.77595272e-02 5.41465195e+01] [-2.63268279e-01 9.64493984e-01 -2.10040209e-02 -4.94850409e+00] [-9.98344995e-02 -5.58271990e-03 9.94988395e-01 -6.36450883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.836296757 meters 0.07761194001423699 Centerline is valid? [True, True] Translation: X:54.18, Y:-4.95, Z:-6.37 [[ 9.59427651e-01 2.64396571e-01 9.79440444e-02 5.41787285e+01] [-2.63615364e-01 9.64397757e-01 -2.10690724e-02 -4.95005017e+00] [-1.00027607e-01 -5.60530427e-03 9.94968873e-01 -6.36831909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.866296757 meters 0.07891256923950218 Centerline is valid? [True, True] Translation: X:54.21, Y:-4.95, Z:-6.37 [[ 9.59374185e-01 2.65198555e-01 9.62855075e-02 5.42099128e+01] [-2.64444918e-01 9.64177761e-01 -2.07395849e-02 -4.95171354e+00] [-9.83364530e-02 -5.56519075e-03 9.95137664e-01 -6.37383164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.896296757 meters 0.07601168809844383 Centerline is valid? [True, True] Translation: X:54.24, Y:-4.97, Z:-6.38 [[ 9.59304491e-01 2.65590156e-01 9.58997570e-02 5.42395293e+01] [-2.64842419e-01 9.64069982e-01 -2.06775791e-02 -4.96538344e+00] [-9.79458385e-02 -5.56222920e-03 9.95176203e-01 -6.37663810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.926296757 meters 0.0770589182412331 Centerline is valid? [True, True] Translation: X:54.27, Y:-4.97, Z:-6.38 [[ 9.59444712e-01 2.65641900e-01 9.43410063e-02 5.42702777e+01] [-2.64915977e-01 9.64056364e-01 -2.03679218e-02 -4.96717506e+00] [-9.63606209e-02 -5.45054499e-03 9.95331564e-01 -6.38150212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.956296757000004 meters 0.0770379550115973 Centerline is valid? [True, True] Translation: X:54.30, Y:-4.97, Z:-6.39 [[ 9.59907301e-01 2.64344595e-01 9.32733055e-02 5.43019623e+01] [-2.63627899e-01 9.64414010e-01 -2.01481705e-02 -4.97114146e+00] [-9.52801425e-02 -5.24906958e-03 9.95436659e-01 -6.38713804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.986296757 meters 0.07615732990309153 Centerline is valid? [True, True] Translation: X:54.33, Y:-4.98, Z:-6.39 [[ 9.60894354e-01 2.60824246e-01 9.30201725e-02 5.43315745e+01] [-2.60092425e-01 9.65374069e-01 -2.01205946e-02 -4.98220654e+00] [-9.50472013e-02 -4.86007650e-03 9.95460903e-01 -6.38929553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.016296757 meters 0.07460747777689258 Centerline is valid? [True, True] Translation: X:54.36, Y:-5.00, Z:-6.39 [[ 9.61303366e-01 2.59371808e-01 9.28552835e-02 5.43614718e+01] [-2.58635614e-01 9.65766080e-01 -2.00872608e-02 -4.99588935e+00] [-9.48865523e-02 -4.70573185e-03 9.95476970e-01 -6.39012183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.046296757 meters 0.07487510598396027 Centerline is valid? [True, True] Translation: X:54.39, Y:-5.00, Z:-6.39 [[ 9.61669272e-01 2.57736366e-01 9.36171811e-02 5.43916533e+01] [-2.56977676e-01 9.66204541e-01 -2.02795256e-02 -5.00074514e+00] [-9.56801167e-02 -4.55532909e-03 9.95401710e-01 -6.39417683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.076296757 meters 0.07376026469802467 Centerline is valid? [True, True] Translation: X:54.42, Y:-5.01, Z:-6.40 [[ 9.61971568e-01 2.56669667e-01 9.34418798e-02 5.44226903e+01] [-2.55907919e-01 9.66489028e-01 -2.02508257e-02 -5.00705801e+00] [-9.55083242e-02 -4.43179844e-03 9.95418766e-01 -6.39901706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.106296757 meters 0.07417112788505076 Centerline is valid? [True, True] Translation: X:54.45, Y:-5.01, Z:-6.41 [[ 9.62282246e-01 2.56062293e-01 9.18965759e-02 5.44535134e+01] [-2.55320434e-01 9.66650833e-01 -1.99409889e-02 -5.01032620e+00] [-9.39380370e-02 -4.27421407e-03 9.95568871e-01 -6.40641551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.136296757000004 meters 0.07351676220037363 Centerline is valid? [True, True] Translation: X:54.48, Y:-5.02, Z:-6.41 [[ 9.62479154e-01 2.55543433e-01 9.12766795e-02 5.44843312e+01] [-2.54807812e-01 9.66788540e-01 -1.98216567e-02 -5.01985569e+00] [-9.33105418e-02 -4.18007964e-03 9.95628279e-01 -6.41005378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.166296757000005 meters 0.07334347469246101 Centerline is valid? [True, True] Translation: X:54.52, Y:-5.03, Z:-6.41 [[ 9.62595116e-01 2.55054571e-01 9.14210493e-02 5.45153131e+01] [-2.54312213e-01 9.66917898e-01 -1.98765495e-02 -5.02870154e+00] [-9.34662537e-02 -4.11641988e-03 9.95613938e-01 -6.41292100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.196296757 meters 0.07359737121738896 Centerline is valid? [True, True] Translation: X:54.55, Y:-5.04, Z:-6.42 [[ 9.62664938e-01 2.55049906e-01 9.06959950e-02 5.45466475e+01] [-2.54317141e-01 9.66919363e-01 -1.97417525e-02 -5.03631798e+00] [-9.27308458e-02 -4.06085318e-03 9.95682931e-01 -6.41554994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.226296757 meters 0.07359551342917532 Centerline is valid? [True, True] Translation: X:54.58, Y:-5.04, Z:-6.42 [[ 9.62745749e-01 2.54867573e-01 9.03501151e-02 5.45778680e+01] [-2.54137250e-01 9.66967680e-01 -1.96917158e-02 -5.04357202e+00] [-9.23844210e-02 -4.00321412e-03 9.95715367e-01 -6.41939090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.256296757 meters 0.07371812665598666 Centerline is valid? [True, True] Translation: X:54.61, Y:-5.05, Z:-6.42 [[ 9.62815723e-01 2.54754057e-01 8.99236074e-02 5.46104159e+01] [-2.54028106e-01 9.66997803e-01 -1.96206435e-02 -5.04907211e+00] [-9.19543694e-02 -3.95205958e-03 9.95755379e-01 -6.42432104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.286296757 meters 0.07374813414115529 Centerline is valid? [True, True] Translation: X:54.64, Y:-5.05, Z:-6.43 [[ 9.62831507e-01 2.54781005e-01 8.96779142e-02 5.46412841e+01] [-2.54056740e-01 9.66990840e-01 -1.95930556e-02 -5.05478892e+00] [-9.17096600e-02 -3.91846731e-03 9.95778080e-01 -6.42916226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.316296757 meters 0.07386399997312702 Centerline is valid? [True, True] Translation: X:54.67, Y:-5.06, Z:-6.43 [[ 9.62904060e-01 2.55019379e-01 8.82093401e-02 5.46726751e+01] [-2.54317521e-01 9.66928265e-01 -1.92958222e-02 -5.06229510e+00] [-9.02129128e-02 -3.85315520e-03 9.95915048e-01 -6.43315398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.346296757000005 meters 0.07392718002696834 Centerline is valid? [True, True] Translation: X:54.70, Y:-5.07, Z:-6.44 [[ 9.62997565e-01 2.54930026e-01 8.74435335e-02 5.47046152e+01] [-2.54238096e-01 9.66952072e-01 -1.91489317e-02 -5.07110719e+00] [-8.94353436e-02 -3.79110288e-03 9.95985415e-01 -6.43643859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.376296757 meters 0.07406309820702948 Centerline is valid? [True, True] Translation: X:54.73, Y:-5.08, Z:-6.44 [[ 9.63114261e-01 2.54562128e-01 8.72298299e-02 5.47341931e+01] [-2.53869752e-01 9.67049257e-01 -1.91280712e-02 -5.08063889e+00] [-8.92248248e-02 -3.72249715e-03 9.96004555e-01 -6.43965067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.406296757 meters 0.07394049617804155 Centerline is valid? [True, True] Translation: X:54.77, Y:-5.09, Z:-6.44 [[ 9.63022732e-01 2.55053417e-01 8.68042133e-02 5.47651693e+01] [-2.54368076e-01 9.66919766e-01 -1.90538000e-02 -5.08834979e+00] [-8.87924465e-02 -3.73097821e-03 9.96043162e-01 -6.44288254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.436296757 meters 0.07499545157192278 Centerline is valid? [True, True] Translation: X:54.80, Y:-5.09, Z:-6.45 [[ 9.62798454e-01 2.56029844e-01 8.64167569e-02 5.47956940e+01] [-2.55352651e-01 9.66661474e-01 -1.89899385e-02 -5.09073888e+00] [-8.83977406e-02 -3.78326449e-03 9.96078072e-01 -6.44929721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.466296757 meters 0.07566170293160786 Centerline is valid? [True, True] Translation: X:54.83, Y:-5.10, Z:-6.45 [[ 9.62335184e-01 2.58016391e-01 8.56652563e-02 5.48268374e+01] [-2.57356898e-01 9.66132626e-01 -1.88461053e-02 -5.09509193e+00] [-8.76266031e-02 -3.91027436e-03 9.96145716e-01 -6.45403184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.496296757 meters 0.07555048399095586 Centerline is valid? [True, True] Translation: X:54.86, Y:-5.10, Z:-6.46 [[ 9.61605620e-01 2.60448607e-01 8.64936723e-02 5.48577149e+01] [-2.59784298e-01 9.65478782e-01 -1.90483616e-02 -5.10247668e+00] [-8.84689246e-02 -4.15268643e-03 9.96070281e-01 -6.45599917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.526296757000004 meters 0.07541525590276703 Centerline is valid? [True, True] Translation: X:54.89, Y:-5.11, Z:-6.46 [[ 9.61193049e-01 2.61830382e-01 8.69066991e-02 5.48883279e+01] [-2.61163517e-01 9.65104412e-01 -1.91596263e-02 -5.11049615e+00] [-8.88906110e-02 -4.28075956e-03 9.96032195e-01 -6.45796756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.556296757 meters 0.07394264517405474 Centerline is valid? [True, True] Translation: X:54.92, Y:-5.12, Z:-6.46 [[ 9.60464897e-01 2.63989017e-01 8.84136857e-02 5.49189741e+01] [-2.63306086e-01 9.64515004e-01 -1.95118591e-02 -5.12284306e+00] [-9.04272429e-02 -4.53940576e-03 9.95892719e-01 -6.45805943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.586296757 meters 0.07458528353966443 Centerline is valid? [True, True] Translation: X:54.95, Y:-5.13, Z:-6.46 [[ 9.60032973e-01 2.65076664e-01 8.98390404e-02 5.49504369e+01] [-2.64374110e-01 9.64215910e-01 -1.98496469e-02 -5.12694981e+00] [-9.18859103e-02 -4.69480083e-03 9.95758474e-01 -6.46220746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.616296757 meters 0.07384649139461051 Centerline is valid? [True, True] Translation: X:54.98, Y:-5.14, Z:-6.47 [[ 9.59760207e-01 2.65811309e-01 9.05797581e-02 5.49808139e+01] [-2.65097505e-01 9.64013251e-01 -2.00440709e-02 -5.13524773e+00] [-9.26480278e-02 -4.77496622e-03 9.95687472e-01 -6.46529590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.646296757 meters 0.07501855165840045 Centerline is valid? [True, True] Translation: X:55.01, Y:-5.14, Z:-6.47 [[ 9.59531614e-01 2.66751563e-01 9.02368280e-02 5.50125047e+01] [-2.66046272e-01 9.63753190e-01 -1.99792142e-02 -5.13513286e+00] [-9.22955175e-02 -4.83648407e-03 9.95719913e-01 -6.47118591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.676296757 meters 0.07532830739584422 Centerline is valid? [True, True] Translation: X:55.04, Y:-5.14, Z:-6.47 [[ 9.59733999e-01 2.66441514e-01 8.89919692e-02 5.50439392e+01] [-2.65752346e-01 9.63839532e-01 -1.97242789e-02 -5.14221533e+00] [-9.10293447e-02 -4.71976355e-03 9.95837026e-01 -6.47429746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.706296757000004 meters 0.07440777244921819 Centerline is valid? [True, True] Translation: X:55.07, Y:-5.15, Z:-6.48 [[ 9.59985841e-01 2.65872174e-01 8.79725699e-02 5.50738704e+01] [-2.65194159e-01 9.63997372e-01 -1.95224380e-02 -5.15357103e+00] [-8.99957992e-02 -4.58854762e-03 9.95931575e-01 -6.47714202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.736296757 meters 0.07421754677754516 Centerline is valid? [True, True] Translation: X:55.10, Y:-5.16, Z:-6.48 [[ 9.60411030e-01 2.64835791e-01 8.64445340e-02 5.51040109e+01] [-2.64175003e-01 9.64283527e-01 -1.92054177e-02 -5.16259359e+00] [-8.84433220e-02 -4.39139007e-03 9.96071531e-01 -6.48107086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.766296757 meters 0.07449664728556699 Centerline is valid? [True, True] Translation: X:55.13, Y:-5.17, Z:-6.49 [[ 9.61011829e-01 2.63270452e-01 8.45277137e-02 5.51339998e+01] [-2.62630769e-01 9.64713221e-01 -1.88010553e-02 -5.16767802e+00] [-8.64947653e-02 -4.13154192e-03 9.96243738e-01 -6.48810255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.796296757 meters 0.07374044456660252 Centerline is valid? [True, True] Translation: X:55.16, Y:-5.17, Z:-6.49 [[ 9.61176159e-01 2.62629450e-01 8.46531982e-02 5.51649157e+01] [-2.61983478e-01 9.64888232e-01 -1.88509368e-02 -5.17407018e+00] [-8.66316859e-02 -4.05866825e-03 9.96232141e-01 -6.49316523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.826296757 meters 0.0737559745816111 Centerline is valid? [True, True] Translation: X:55.20, Y:-5.18, Z:-6.50 [[ 9.61084567e-01 2.62437439e-01 8.62730918e-02 5.51961393e+01] [-2.61763665e-01 9.64940312e-01 -1.92347970e-02 -5.18038632e+00] [-8.82963150e-02 -4.09689420e-03 9.96085828e-01 -6.49726353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.856296757 meters 0.07373106279798816 Centerline is valid? [True, True] Translation: X:55.23, Y:-5.19, Z:-6.50 [[ 9.61076877e-01 2.61875892e-01 8.80468806e-02 5.52259985e+01] [-2.61169615e-01 9.65092822e-01 -1.96539217e-02 -5.18766774e+00] [-9.01203008e-02 -4.10624024e-03 9.95922422e-01 -6.50009606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.886296757000004 meters 0.07373862490669252 Centerline is valid? [True, True] Translation: X:55.26, Y:-5.20, Z:-6.50 [[ 9.61215074e-01 2.61239752e-01 8.84272227e-02 5.52565260e+01] [-2.60522801e-01 9.65265474e-01 -1.97594042e-02 -5.19904846e+00] [-9.05176869e-02 -4.04427056e-03 9.95886636e-01 -6.50195576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.916296757000005 meters 0.07318750147351512 Centerline is valid? [True, True] Translation: X:55.29, Y:-5.21, Z:-6.50 [[ 9.61373269e-01 2.60687297e-01 8.83378261e-02 5.52877887e+01] [-2.59967201e-01 9.65415155e-01 -1.97644626e-02 -5.20877512e+00] [-9.04350203e-02 -3.96391135e-03 9.95894470e-01 -6.50402316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.946296757 meters 0.07402004227083614 Centerline is valid? [True, True] Translation: X:55.32, Y:-5.21, Z:-6.51 [[ 9.61389012e-01 2.61172697e-01 8.67178776e-02 5.53181340e+01] [-2.60479941e-01 9.65284106e-01 -1.94112326e-02 -5.21172274e+00] [-8.87770729e-02 -3.92652190e-03 9.96043781e-01 -6.51001322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.976296757 meters 0.0743954028688762 Centerline is valid? [True, True] Translation: X:55.35, Y:-5.22, Z:-6.51 [[ 9.61159144e-01 2.62501346e-01 8.52416700e-02 5.53491960e+01] [-2.61835458e-01 9.64923498e-01 -1.91006610e-02 -5.21692580e+00] [-8.72656396e-02 -3.96051673e-03 9.96177204e-01 -6.51380983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.006296757 meters 0.07446608043816642 Centerline is valid? [True, True] Translation: X:55.38, Y:-5.22, Z:-6.52 [[ 9.60842696e-01 2.63623525e-01 8.53460592e-02 5.53802642e+01] [-2.62958710e-01 9.64617150e-01 -1.91434428e-02 -5.22403536e+00] [-8.73729342e-02 -4.04865244e-03 9.96167445e-01 -6.51746230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.036296757 meters 0.07446608043816642 Centerline is valid? [True, True] Translation: X:55.41, Y:-5.23, Z:-6.52 [[ 9.60770086e-01 2.63889452e-01 8.53416593e-02 5.54116850e+01] [-2.63223945e-01 9.64544417e-01 -1.91630344e-02 -5.23117680e+00] [-8.73727437e-02 -4.05269804e-03 9.96167445e-01 -6.52122695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.066296757 meters 0.07475242977369313 Centerline is valid? [True, True] Translation: X:55.44, Y:-5.24, Z:-6.52 [[ 9.60676644e-01 2.64058950e-01 8.58676691e-02 5.54423294e+01] [-2.63383572e-01 9.64497964e-01 -1.93073017e-02 -5.23806746e+00] [-8.79174578e-02 -4.06805962e-03 9.96119456e-01 -6.52470175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.096296757000005 meters 0.07412047514284802 Centerline is valid? [True, True] Translation: X:55.47, Y:-5.25, Z:-6.53 [[ 9.60514876e-01 2.64052879e-01 8.76769607e-02 5.54731946e+01] [-2.63346654e-01 9.64499354e-01 -1.97366859e-02 -5.24773572e+00] [-8.97759007e-02 -4.13205380e-03 9.95953419e-01 -6.52712370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.126296757 meters 0.07408945410625369 Centerline is valid? [True, True] Translation: X:55.51, Y:-5.25, Z:-6.53 [[ 9.60265797e-01 2.64526477e-01 8.89682102e-02 5.55050511e+01] [-2.63798831e-01 9.64369224e-01 -2.00543383e-02 -5.25454908e+00] [-9.11031073e-02 -4.21221472e-03 9.95832557e-01 -6.52961495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.156296757 meters 0.07440956320964572 Centerline is valid? [True, True] Translation: X:55.54, Y:-5.26, Z:-6.54 [[ 9.59799716e-01 2.66303938e-01 8.86945241e-02 5.55357821e+01] [-2.65587905e-01 9.63879234e-01 -1.99971749e-02 -5.25965897e+00] [-9.08161363e-02 -4.36291008e-03 9.95858120e-01 -6.53532672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.186296757 meters 0.07559755910427947 Centerline is valid? [True, True] Translation: X:55.57, Y:-5.26, Z:-6.54 [[ 9.59552082e-01 2.67149845e-01 8.88299587e-02 5.55668523e+01] [-2.66433260e-01 9.63644823e-01 -2.00492619e-02 -5.26215531e+00] [-9.09566871e-02 -4.42894452e-03 9.95845001e-01 -6.54060204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.216296757 meters 0.07593347835451827 Centerline is valid? [True, True] Translation: X:55.60, Y:-5.27, Z:-6.54 [[ 9.59252546e-01 2.68214007e-01 8.88583054e-02 5.55970505e+01] [-2.67499538e-01 9.63348796e-01 -2.00772226e-02 -5.26766679e+00] [-9.09865338e-02 -4.51042874e-03 9.95841908e-01 -6.54418505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.246296757 meters 0.07503797617260478 Centerline is valid? [True, True] Translation: X:55.63, Y:-5.28, Z:-6.55 [[ 9.58890914e-01 2.69907517e-01 8.76250441e-02 5.56278664e+01] [-2.69217738e-01 9.62875341e-01 -1.98213847e-02 -5.27531087e+00] [-8.97219349e-02 -4.58367046e-03 9.95956306e-01 -6.54531961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.276296757000004 meters 0.07578138991833822 Centerline is valid? [True, True] Translation: X:55.66, Y:-5.28, Z:-6.55 [[ 9.58732140e-01 2.70357241e-01 8.79752526e-02 5.56598833e+01] [-2.69663009e-01 9.62748914e-01 -1.99095432e-02 -5.27910789e+00] [-9.00807681e-02 -4.63575232e-03 9.95923674e-01 -6.55029545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.306296757 meters 0.07584588072392616 Centerline is valid? [True, True] Translation: X:55.69, Y:-5.28, Z:-6.55 [[ 9.58494597e-01 2.71453379e-01 8.71846919e-02 5.56910239e+01] [-2.70774802e-01 9.62440202e-01 -1.97449826e-02 -5.28422106e+00] [-8.92698947e-02 -4.68195859e-03 9.95996468e-01 -6.55364609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.336296757 meters 0.07620085271540548 Centerline is valid? [True, True] Translation: X:55.72, Y:-5.29, Z:-6.56 [[ 9.58390348e-01 2.72012710e-01 8.65853699e-02 5.57223612e+01] [-2.71343972e-01 9.62282267e-01 -1.96287559e-02 -5.29027652e+00] [-8.86588370e-02 -4.68240800e-03 9.96051046e-01 -6.55818037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.366296757 meters 0.07645050502861304 Centerline is valid? [True, True] Translation: X:55.75, Y:-5.30, Z:-6.56 [[ 9.58803958e-01 2.71637569e-01 8.31143861e-02 5.57520837e+01] [-2.71018009e-01 9.62389391e-01 -1.88652635e-02 -5.29597752e+00] [-8.51129178e-02 -4.43740613e-03 9.96361431e-01 -6.56463939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.396296757 meters 0.0762063587011726 Centerline is valid? [True, True] Translation: X:55.78, Y:-5.30, Z:-6.57 [[ 9.58906599e-01 2.71495031e-01 8.23928536e-02 5.57836681e+01] [-2.70885220e-01 9.62429870e-01 -1.87067474e-02 -5.30337592e+00] [-8.43761324e-02 -4.38098278e-03 9.96424345e-01 -6.56869300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.426296757 meters 0.07581527681202704 Centerline is valid? [True, True] Translation: X:55.81, Y:-5.31, Z:-6.57 [[ 9.59029207e-01 2.70965415e-01 8.27086686e-02 5.58147429e+01] [-2.70346848e-01 9.62579358e-01 -1.88032479e-02 -5.30910734e+00] [-8.47086870e-02 -4.32716393e-03 9.96396364e-01 -6.57343901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.456296757000004 meters 0.07549308075680977 Centerline is valid? [True, True] Translation: X:55.85, Y:-5.32, Z:-6.58 [[ 9.59198555e-01 2.70561751e-01 8.20638251e-02 5.58453891e+01] [-2.69949636e-01 9.62693292e-01 -1.86767079e-02 -5.31686524e+00] [-8.40554967e-02 -4.23842855e-03 9.96452061e-01 -6.57593718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.486296757000005 meters 0.07411034536681517 Centerline is valid? [True, True] Translation: X:55.87, Y:-5.33, Z:-6.58 [[ 9.59762586e-01 2.67567937e-01 8.52242798e-02 5.58749710e+01] [-2.66893927e-01 9.63530240e-01 -1.94192639e-02 -5.32800630e+00] [-8.73121432e-02 -4.10795972e-03 9.96172532e-01 -6.57637831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.516296757 meters 0.07396689915835462 Centerline is valid? [True, True] Translation: X:55.90, Y:-5.34, Z:-6.58 [[ 9.60199822e-01 2.65792201e-01 8.58534063e-02 5.59046160e+01] [-2.65099037e-01 9.64022240e-01 -1.95862398e-02 -5.33646146e+00] [-8.79704629e-02 -3.95295141e-03 9.96115240e-01 -6.57875089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.546296757 meters 0.07285671485756871 Centerline is valid? [True, True] Translation: X:55.93, Y:-5.35, Z:-6.58 [[ 9.60916602e-01 2.63339248e-01 8.53915951e-02 5.59348378e+01] [-2.62643525e-01 9.64696180e-01 -1.94848521e-02 -5.34681178e+00] [-8.75080718e-02 -3.70423169e-03 9.96156923e-01 -6.58025309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.576296757 meters 0.07275888998137263 Centerline is valid? [True, True] Translation: X:55.97, Y:-5.35, Z:-6.58 [[ 9.60802422e-01 2.63643440e-01 8.57370493e-02 5.59672728e+01] [-2.62943432e-01 9.64612919e-01 -1.95619279e-02 -5.35332377e+00] [-8.78604394e-02 -3.74884629e-03 9.96125740e-01 -6.58364436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.606296757 meters 0.07360169687967356 Centerline is valid? [True, True] Translation: X:56.00, Y:-5.35, Z:-6.59 [[ 9.60586995e-01 2.64507787e-01 8.54883386e-02 5.59981394e+01] [-2.63812903e-01 9.64376099e-01 -1.95318310e-02 -5.35462207e+00] [-8.76092319e-02 -3.79090397e-03 9.96147706e-01 -6.58943777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.636296757000004 meters 0.07374399160658672 Centerline is valid? [True, True] Translation: X:56.03, Y:-5.36, Z:-6.59 [[ 9.60421230e-01 2.65199509e-01 8.52072848e-02 5.60292248e+01] [-2.64510173e-01 9.64185984e-01 -1.94873510e-02 -5.36074420e+00] [-8.73237057e-02 -3.82212797e-03 9.96172657e-01 -6.59378894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.666296757000005 meters 0.07410494452856005 Centerline is valid? [True, True] Translation: X:56.06, Y:-5.37, Z:-6.60 [[ 9.60182844e-01 2.67072555e-01 8.19826621e-02 5.60589175e+01] [-2.66439206e-01 9.63668865e-01 -1.87741126e-02 -5.36612299e+00] [-8.40181892e-02 -3.81681456e-03 9.96456911e-01 -6.59803950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.696296757 meters 0.0745301363830814 Centerline is valid? [True, True] Translation: X:56.09, Y:-5.37, Z:-6.60 [[ 9.59929639e-01 2.67957657e-01 8.20596314e-02 5.60902148e+01] [-2.67325944e-01 9.63422823e-01 -1.87964007e-02 -5.37259368e+00] [-8.40947612e-02 -3.89344626e-03 9.96450155e-01 -6.60250133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.726296757 meters 0.07492207015278869 Centerline is valid? [True, True] Translation: X:56.12, Y:-5.38, Z:-6.61 [[ 9.59752601e-01 2.68308518e-01 8.29788177e-02 5.61205902e+01] [-2.67662023e-01 9.63324948e-01 -1.90285531e-02 -5.37932861e+00] [-8.50410881e-02 -3.94757485e-03 9.96369625e-01 -6.60685136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.756296757 meters 0.0742608746916916 Centerline is valid? [True, True] Translation: X:56.15, Y:-5.39, Z:-6.61 [[ 9.59868708e-01 2.67949239e-01 8.27965499e-02 5.61510203e+01] [-2.67302683e-01 9.63425181e-01 -1.90051811e-02 -5.38811342e+00] [-8.48607049e-02 -3.88926129e-03 9.96385234e-01 -6.61009639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.786296757 meters 0.07508167290625029 Centerline is valid? [True, True] Translation: X:56.18, Y:-5.39, Z:-6.62 [[ 9.60033369e-01 2.67472005e-01 8.24297125e-02 5.61812629e+01] [-2.66827664e-01 9.63558100e-01 -1.89416577e-02 -5.39149713e+00] [-8.44921803e-02 -3.80990422e-03 9.96416859e-01 -6.61640421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.816296757 meters 0.07418388704502107 Centerline is valid? [True, True] Translation: X:56.21, Y:-5.40, Z:-6.62 [[ 9.60676696e-01 2.64946625e-01 8.30877312e-02 5.62113974e+01] [-2.64280323e-01 9.64256391e-01 -1.91186832e-02 -5.39877725e+00] [-8.51833064e-02 -3.59157905e-03 9.96358823e-01 -6.62084589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.846296757000005 meters 0.07403632760225344 Centerline is valid? [True, True] Translation: X:56.24, Y:-5.41, Z:-6.63 [[ 9.61146839e-01 2.63257178e-01 8.30205522e-02 5.62417225e+01] [-2.62585449e-01 9.64719570e-01 -1.91058372e-02 -5.40675657e+00] [-8.51213002e-02 -3.43647394e-03 9.96364670e-01 -6.62563108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.876296757 meters 0.07212229448297626 Centerline is valid? [True, True] Translation: X:56.27, Y:-5.43, Z:-6.62 [[ 9.62135691e-01 2.59578403e-01 8.31502538e-02 5.62701015e+01] [-2.58888767e-01 9.65717087e-01 -1.91602104e-02 -5.42652464e+00] [-8.52731977e-02 -3.09194444e-03 9.96352810e-01 -6.62198923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.906296757 meters 0.07206048944628596 Centerline is valid? [True, True] Translation: X:56.30, Y:-5.43, Z:-6.63 [[ 9.62903864e-01 2.56605738e-01 8.34843929e-02 5.62989200e+01] [-2.55898527e-01 9.66512020e-01 -1.92473004e-02 -5.43499673e+00] [-8.56276369e-02 -2.83023331e-03 9.96323189e-01 -6.62694406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.936296757 meters 0.07101946511907897 Centerline is valid? [True, True] Translation: X:56.33, Y:-5.45, Z:-6.63 [[ 9.64074297e-01 2.51276350e-01 8.61449154e-02 5.63282246e+01] [-2.50502181e-01 9.67912327e-01 -1.98591249e-02 -5.44668809e+00] [-8.83708539e-02 -2.43381733e-03 9.96084669e-01 -6.63060972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.966296757 meters 0.07074533545256356 Centerline is valid? [True, True] Translation: X:56.36, Y:-5.45, Z:-6.64 [[ 9.64605790e-01 2.49324308e-01 8.58665251e-02 5.63591617e+01] [-2.48545816e-01 9.68417481e-01 -1.98131389e-02 -5.45298921e+00] [-8.80945410e-02 -2.22989701e-03 9.96109622e-01 -6.63591994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.996296757 meters 0.07069533984754253 Centerline is valid? [True, True] Translation: X:56.39, Y:-5.46, Z:-6.64 [[ 9.65116175e-01 2.47141951e-01 8.64385591e-02 5.63892886e+01] [-2.46342264e-01 9.68977176e-01 -1.99680164e-02 -5.45896232e+00] [-8.86919254e-02 -2.02201473e-03 9.96057054e-01 -6.64262244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.026296757000004 meters 0.0704744545666552 Centerline is valid? [True, True] Translation: X:56.42, Y:-5.47, Z:-6.65 [[ 9.65732640e-01 2.43998956e-01 8.84589012e-02 5.64182239e+01] [-2.43145883e-01 9.69773917e-01 -2.04604345e-02 -5.47037506e+00] [-9.07774598e-02 -1.74910819e-03 9.95869667e-01 -6.64551280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.056296757 meters 0.06968166304120171 Centerline is valid? [True, True] Translation: X:56.45, Y:-5.49, Z:-6.64 [[ 9.66040899e-01 2.41514694e-01 9.18457081e-02 5.64468373e+01] [-2.40583115e-01 9.70395895e-01 -2.12501925e-02 -5.48801915e+00] [-9.42589319e-02 -1.56797151e-03 9.95546481e-01 -6.64176283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.086296757 meters 0.06957825014844544 Centerline is valid? [True, True] Translation: X:56.48, Y:-5.49, Z:-6.64 [[ 9.65938444e-01 2.41440905e-01 9.31086013e-02 5.64769254e+01] [-2.40482863e-01 9.70414239e-01 -2.15452635e-02 -5.49470071e+00] [-9.55558203e-02 -1.57962473e-03 9.95422820e-01 -6.64499953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.116296757 meters 0.06956789069315726 Centerline is valid? [True, True] Translation: X:56.51, Y:-5.50, Z:-6.65 [[ 9.65845955e-01 2.41424849e-01 9.41043809e-02 5.65081419e+01] [-2.40443867e-01 9.70418244e-01 -2.17985770e-02 -5.50028755e+00] [-9.65833262e-02 -1.57275383e-03 9.95323660e-01 -6.64879767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.146296757 meters 0.06995808149892528 Centerline is valid? [True, True] Translation: X:56.54, Y:-5.50, Z:-6.66 [[ 9.65353581e-01 2.44341371e-01 9.15956249e-02 5.65393400e+01] [-2.43422981e-01 9.69687622e-01 -2.12407184e-02 -5.49822318e+00] [-9.40091299e-02 -1.79167652e-03 9.95569723e-01 -6.65824233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.176296757 meters 0.0707317941288429 Centerline is valid? [True, True] Translation: X:56.57, Y:-5.50, Z:-6.67 [[ 9.64928793e-01 2.46707190e-01 8.97105679e-02 5.65702479e+01] [-2.45834294e-01 9.69088093e-01 -2.08271126e-02 -5.50048889e+00] [-9.20756415e-02 -1.95725349e-03 9.95750092e-01 -6.66544033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.206296757000004 meters 0.07123544922759811 Centerline is valid? [True, True] Translation: X:56.60, Y:-5.51, Z:-6.67 [[ 9.64111343e-01 2.51347465e-01 8.55205807e-02 5.66010769e+01] [-2.50571509e-01 9.67894246e-01 -1.98657613e-02 -5.50889043e+00] [-8.77680867e-02 -2.27621509e-03 9.96138335e-01 -6.66706134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.236296757000005 meters 0.07151519321532276 Centerline is valid? [True, True] Translation: X:56.63, Y:-5.52, Z:-6.67 [[ 9.63745126e-01 2.53092811e-01 8.44947349e-02 5.66323619e+01] [-2.52341700e-01 9.67439022e-01 -1.96317284e-02 -5.51672666e+00] [-8.67121530e-02 -2.40156250e-03 9.96230513e-01 -6.67075571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.266296757 meters 0.07159368444394851 Centerline is valid? [True, True] Translation: X:56.66, Y:-5.52, Z:-6.67 [[ 9.63407864e-01 2.54696359e-01 8.35167833e-02 5.66632677e+01] [-2.53968057e-01 9.67017819e-01 -1.94103987e-02 -5.52446981e+00] [-8.57059755e-02 -2.51046446e-03 9.96317311e-01 -6.67379125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.296296757 meters 0.07227805414092864 Centerline is valid? [True, True] Translation: X:56.69, Y:-5.53, Z:-6.68 [[ 9.62785456e-01 2.57378273e-01 8.24656914e-02 5.66933980e+01] [-2.56677501e-01 9.66306933e-01 -1.91721471e-02 -5.52672567e+00] [-8.46216635e-02 -2.70842324e-03 9.96409473e-01 -6.67918628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.326296757 meters 0.07300547862074468 Centerline is valid? [True, True] Translation: X:56.72, Y:-5.53, Z:-6.68 [[ 9.61955927e-01 2.60660467e-01 8.18346775e-02 5.67239976e+01] [-2.59982100e-01 9.65425960e-01 -1.90268890e-02 -5.52841394e+00] [-8.39648799e-02 -2.97252267e-03 9.96464281e-01 -6.68483681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.356296757 meters 0.073403309307898 Centerline is valid? [True, True] Translation: X:56.75, Y:-5.53, Z:-6.69 [[ 9.61758065e-01 2.61828335e-01 8.04198192e-02 5.67548489e+01] [-2.61176069e-01 9.65109779e-01 -1.87129973e-02 -5.53419018e+00] [-8.25135468e-02 -3.00635621e-03 9.96585408e-01 -6.68912850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.386296757000004 meters 0.07350745904546244 Centerline is valid? [True, True] Translation: X:56.79, Y:-5.54, Z:-6.69 [[ 9.61700525e-01 2.61910828e-01 8.08382282e-02 5.67863425e+01] [-2.61250233e-01 9.65087389e-01 -1.88320706e-02 -5.54227540e+00] [-8.29482778e-02 -3.00819375e-03 9.96549313e-01 -6.69213000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.416296757000005 meters 0.07330736764247939 Centerline is valid? [True, True] Translation: X:56.82, Y:-5.55, Z:-6.69 [[ 9.61788443e-01 2.61413444e-01 8.14002642e-02 5.68165553e+01] [-2.60741215e-01 9.65222326e-01 -1.89705158e-02 -5.55352724e+00] [-8.35285002e-02 -2.97878099e-03 9.96500937e-01 -6.69335676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.446296757 meters 0.07323036440027482 Centerline is valid? [True, True] Translation: X:56.85, Y:-5.56, Z:-6.70 [[ 9.62016025e-01 2.60836057e-01 8.05587863e-02 5.68474882e+01] [-2.60174128e-01 9.65378814e-01 -1.87927823e-02 -5.56337149e+00] [-8.26715809e-02 -2.88035420e-03 9.96572683e-01 -6.69638085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.476296757 meters 0.07318507035705042 Centerline is valid? [True, True] Translation: X:56.88, Y:-5.57, Z:-6.70 [[ 9.62711329e-01 2.58414330e-01 8.00558053e-02 5.68768255e+01] [-2.57750107e-01 9.66030599e-01 -1.87019700e-02 -5.57275541e+00] [-8.21692146e-02 -2.62979402e-03 9.96614923e-01 -6.70023418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.506296757 meters 0.07316609598046116 Centerline is valid? [True, True] Translation: X:56.91, Y:-5.58, Z:-6.71 [[ 9.62838937e-01 2.57639616e-01 8.10124006e-02 5.69081488e+01] [-2.56955703e-01 9.66237629e-01 -1.89370432e-02 -5.58078077e+00] [-8.31561624e-02 -2.58327579e-03 9.96533180e-01 -6.70520849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.536296757 meters 0.07228480123536897 Centerline is valid? [True, True] Translation: X:56.94, Y:-5.59, Z:-6.70 [[ 9.62900512e-01 2.57023110e-01 8.22297067e-02 5.69389985e+01] [-2.56315198e-01 9.66401875e-01 -1.92336806e-02 -5.59406464e+00] [-8.44104432e-02 -2.55660265e-03 9.96427790e-01 -6.70349268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.566296757 meters 0.07189382877617255 Centerline is valid? [True, True] Translation: X:56.97, Y:-5.60, Z:-6.70 [[ 9.62749684e-01 2.57408674e-01 8.27878104e-02 5.69701232e+01] [-2.56692317e-01 9.66299118e-01 -1.93667100e-02 -5.60459650e+00] [-8.49829472e-02 -2.60570094e-03 9.96378999e-01 -6.70368686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.596296757000005 meters 0.07177272775231881 Centerline is valid? [True, True] Translation: X:57.00, Y:-5.61, Z:-6.71 [[ 9.62599024e-01 2.57695805e-01 8.36420378e-02 5.70012376e+01] [-2.56963747e-01 9.66222499e-01 -1.95886297e-02 -5.61281284e+00] [-8.58647265e-02 -2.63697558e-03 9.96303315e-01 -6.70641639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.626296757 meters 0.07204938337974909 Centerline is valid? [True, True] Translation: X:57.03, Y:-5.62, Z:-6.71 [[ 9.61952631e-01 2.59981893e-01 8.40032812e-02 5.70326463e+01] [-2.59250265e-01 9.65609339e-01 -1.96952925e-02 -5.61854763e+00] [-8.62347723e-02 -2.83193444e-03 9.96270819e-01 -6.71097806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.656296757 meters 0.07286929218332687 Centerline is valid? [True, True] Translation: X:57.06, Y:-5.62, Z:-6.72 [[ 9.61281153e-01 2.62983448e-01 8.23301340e-02 5.70629398e+01] [-2.62289528e-01 9.64795636e-01 -1.93283153e-02 -5.61996036e+00] [-8.45147810e-02 -3.01438680e-03 9.96417666e-01 -6.71696578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.686296757 meters 0.07315492773352676 Centerline is valid? [True, True] Translation: X:57.09, Y:-5.62, Z:-6.72 [[ 9.60651339e-01 2.65379204e-01 8.19931944e-02 5.70938234e+01] [-2.64699189e-01 9.64138785e-01 -1.92546867e-02 -5.62499224e+00] [-8.41626123e-02 -3.20649147e-03 9.96446874e-01 -6.72127365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.716296757 meters 0.07363943359438668 Centerline is valid? [True, True] Translation: X:57.13, Y:-5.63, Z:-6.72 [[ 9.60034869e-01 2.67518262e-01 8.22619595e-02 5.71252373e+01] [-2.66839970e-01 9.63546839e-01 -1.93370001e-02 -5.63102341e+00] [-8.44362516e-02 -3.38658449e-03 9.96423128e-01 -6.72498213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.746296757 meters 0.07413163917988955 Centerline is valid? [True, True] Translation: X:57.16, Y:-5.64, Z:-6.73 [[ 9.59151229e-01 2.70306164e-01 8.34475717e-02 5.71567294e+01] [-2.69616336e-01 9.62767466e-01 -1.96427524e-02 -5.63673530e+00] [-8.56501642e-02 -3.65845845e-03 9.96318556e-01 -6.72914680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.776296757000004 meters 0.07418652842063762 Centerline is valid? [True, True] Translation: X:57.19, Y:-5.64, Z:-6.73 [[ 9.58855172e-01 2.71073052e-01 8.43573362e-02 5.71890506e+01] [-2.70371034e-01 9.62551403e-01 -1.98569867e-02 -5.64291018e+00] [-8.65809663e-02 -3.76780584e-03 9.96237692e-01 -6.73320693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.806296757 meters 0.07389888764186843 Centerline is valid? [True, True] Translation: X:57.22, Y:-5.65, Z:-6.74 [[ 9.58483808e-01 2.72328286e-01 8.45345723e-02 5.72202512e+01] [-2.71625891e-01 9.62196640e-01 -1.99249016e-02 -5.64790262e+00] [-8.67649957e-02 -3.86408299e-03 9.96221313e-01 -6.73568253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.836296757 meters 0.07406191080274799 Centerline is valid? [True, True] Translation: X:57.25, Y:-5.65, Z:-6.74 [[ 9.58557456e-01 2.72436378e-01 8.33428035e-02 5.72515692e+01] [-2.71752422e-01 9.62166294e-01 -1.96632373e-02 -5.65464956e+00] [-8.55466175e-02 -3.80026593e-03 9.96326921e-01 -6.74019643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.866296757 meters 0.07501768472960275 Centerline is valid? [True, True] Translation: X:57.28, Y:-5.66, Z:-6.75 [[ 9.58438077e-01 2.73574162e-01 8.09544917e-02 5.72812466e+01] [-2.72931175e-01 9.61843528e-01 -1.91207051e-02 -5.65996279e+00] [-8.30964848e-02 -3.76899272e-03 9.96534379e-01 -6.74589630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.896296757 meters 0.07490517720686085 Centerline is valid? [True, True] Translation: X:57.31, Y:-5.67, Z:-6.75 [[ 9.58439344e-01 2.73756389e-01 8.03209989e-02 5.73123655e+01] [-2.73122554e-01 9.61791803e-01 -1.89894221e-02 -5.66888360e+00] [-8.24505539e-02 -3.73726710e-03 9.96588149e-01 -6.74934435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.926296757 meters 0.07490517720686085 Centerline is valid? [True, True] Translation: X:57.34, Y:-5.68, Z:-6.75 [[ 9.58363514e-01 2.74023021e-01 8.03166168e-02 5.73437050e+01] [-2.73388570e-01 9.61715856e-01 -1.90079347e-02 -5.67638987e+00] [-8.24503756e-02 -3.74113397e-03 9.96588149e-01 -6.75310947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.956296757000004 meters 0.07538061415393205 Centerline is valid? [True, True] Translation: X:57.37, Y:-5.68, Z:-6.76 [[ 9.58321591e-01 2.74216325e-01 8.01569399e-02 5.73747211e+01] [-2.73582838e-01 9.61660823e-01 -1.89971782e-02 -5.68322969e+00] [-8.22931251e-02 -3.72415713e-03 9.96601210e-01 -6.75784252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.986296757000005 meters 0.075242409722816 Centerline is valid? [True, True] Translation: X:57.40, Y:-5.69, Z:-6.76 [[ 9.58776380e-01 2.72809593e-01 7.95159051e-02 5.74043076e+01] [-2.72180355e-01 9.62061452e-01 -1.88578261e-02 -5.69097242e+00] [-8.16437829e-02 -3.56222904e-03 9.96655208e-01 -6.76241804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.016296757 meters 0.0735889532525106 Centerline is valid? [True, True] Translation: X:57.43, Y:-5.70, Z:-6.76 [[ 9.59081064e-01 2.71240361e-01 8.11922304e-02 5.74339824e+01] [-2.70576633e-01 9.62505362e-01 -1.92798805e-02 -5.70344256e+00] [-8.33774388e-02 -3.47775206e-03 9.96511971e-01 -6.76312204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.046296757 meters 0.07477624165555825 Centerline is valid? [True, True] Translation: X:57.47, Y:-5.71, Z:-6.77 [[ 9.59071120e-01 2.70907582e-01 8.24115817e-02 5.74651270e+01] [-2.70222397e-01 9.62599000e-01 -1.95709203e-02 -5.70590542e+00] [-8.46312169e-02 -3.49955072e-03 9.96406197e-01 -6.77034222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.076296757 meters 0.0746510916704436 Centerline is valid? [True, True] Translation: X:57.50, Y:-5.71, Z:-6.77 [[ 9.59058625e-01 2.70901934e-01 8.25753912e-02 5.74961275e+01] [-2.70212140e-01 9.62600643e-01 -1.96316547e-02 -5.71361442e+00] [-8.48053778e-02 -3.48496542e-03 9.96391441e-01 -6.77344244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.106296757 meters 0.07406184934749897 Centerline is valid? [True, True] Translation: X:57.53, Y:-5.72, Z:-6.78 [[ 9.59004915e-01 2.71041228e-01 8.27419191e-02 5.75266833e+01] [-2.70347414e-01 9.62561432e-01 -1.96917552e-02 -5.72256086e+00] [-8.49814577e-02 -3.48457390e-03 9.96376440e-01 -6.77561895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.136296757000004 meters 0.07357235086101958 Centerline is valid? [True, True] Translation: X:57.56, Y:-5.73, Z:-6.78 [[ 9.59024062e-01 2.70876903e-01 8.30575213e-02 5.75575825e+01] [-2.70175342e-01 9.62607767e-01 -1.97881686e-02 -5.73202002e+00] [-8.53119730e-02 -3.46276441e-03 9.96348271e-01 -6.77757670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.166296757000005 meters 0.07367342015330237 Centerline is valid? [True, True] Translation: X:57.59, Y:-5.74, Z:-6.78 [[ 9.59117393e-01 2.70479236e-01 8.32755019e-02 5.75877529e+01] [-2.69770613e-01 9.62719751e-01 -1.98619651e-02 -5.74088604e+00] [-8.55432196e-02 -3.41532705e-03 9.96328607e-01 -6.78111318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.196296757 meters 0.07337682387771068 Centerline is valid? [True, True] Translation: X:57.62, Y:-5.75, Z:-6.78 [[ 9.59257397e-01 2.69791376e-01 8.38919553e-02 5.76187959e+01] [-2.69067697e-01 9.62912944e-01 -2.00308841e-02 -5.74919908e+00] [-8.61848095e-02 -3.35784147e-03 9.96273508e-01 -6.78383521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.226296757 meters 0.07327233316791901 Centerline is valid? [True, True] Translation: X:57.65, Y:-5.75, Z:-6.79 [[ 9.58863339e-01 2.70549041e-01 8.59320317e-02 5.76502220e+01] [-2.69790704e-01 9.62699876e-01 -2.05408106e-02 -5.75317877e+00] [-8.82840529e-02 -3.48783307e-03 9.96089233e-01 -6.78837702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.256296757 meters 0.07344593718091257 Centerline is valid? [True, True] Translation: X:57.68, Y:-5.76, Z:-6.79 [[ 9.58583149e-01 2.71462488e-01 8.61769304e-02 5.76803514e+01] [-2.70701387e-01 9.62442439e-01 -2.06230541e-02 -5.75691190e+00] [-8.85387207e-02 -3.55930241e-03 9.96066376e-01 -6.79363070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.286296757 meters 0.07352419572141107 Centerline is valid? [True, True] Translation: X:57.71, Y:-5.76, Z:-6.80 [[ 9.58390659e-01 2.72133762e-01 8.62007017e-02 5.77117824e+01] [-2.71373527e-01 9.62252672e-01 -2.06446816e-02 -5.76248128e+00] [-8.85649704e-02 -3.60691849e-03 9.96063872e-01 -6.79747877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.316296757 meters 0.07347287809528116 Centerline is valid? [True, True] Translation: X:57.74, Y:-5.77, Z:-6.80 [[ 9.58646079e-01 2.71206378e-01 8.62832266e-02 5.77424897e+01] [-2.70438999e-01 9.62514844e-01 -2.06862794e-02 -5.77158692e+00] [-8.86591373e-02 -3.50352879e-03 9.96055863e-01 -6.80044315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.346296757000005 meters 0.07340681451214523 Centerline is valid? [True, True] Translation: X:57.77, Y:-5.78, Z:-6.80 [[ 9.58923022e-01 2.70460203e-01 8.55448213e-02 5.77729199e+01] [-2.69701070e-01 9.62725208e-01 -2.05306421e-02 -5.78069147e+00] [-8.79088774e-02 -3.38422447e-03 9.96122772e-01 -6.80357796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.376296757 meters 0.07300519660118245 Centerline is valid? [True, True] Translation: X:57.80, Y:-5.79, Z:-6.81 [[ 9.59527059e-01 2.69041348e-01 8.32140382e-02 5.78040776e+01] [-2.68316116e-01 9.63123488e-01 -1.99902245e-02 -5.79114138e+00] [-8.55235916e-02 -3.14650624e-03 9.96331177e-01 -6.80737357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.406296757 meters 0.07303797927375474 Centerline is valid? [True, True] Translation: X:57.83, Y:-5.80, Z:-6.81 [[ 9.59725605e-01 2.68340063e-01 8.31887859e-02 5.78347547e+01] [-2.67610440e-01 9.63319396e-01 -2.00098582e-02 -5.79798200e+00] [-8.55068175e-02 -3.05821431e-03 9.96332892e-01 -6.81121615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.436296757 meters 0.07308655692218735 Centerline is valid? [True, True] Translation: X:57.87, Y:-5.81, Z:-6.82 [[ 9.60045994e-01 2.67244913e-01 8.30171374e-02 5.78653150e+01] [-2.66512405e-01 9.63624174e-01 -1.99897491e-02 -5.80523760e+00] [-8.53394792e-02 -2.93401833e-03 9.96347612e-01 -6.81622060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.466296757 meters 0.07287619365135509 Centerline is valid? [True, True] Translation: X:57.90, Y:-5.81, Z:-6.82 [[ 9.60063584e-01 2.67128847e-01 8.31870993e-02 5.78959930e+01] [-2.66391080e-01 9.63656430e-01 -2.00518593e-02 -5.81334244e+00] [-8.55202133e-02 -2.90924130e-03 9.96332188e-01 -6.81879095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.496296757 meters 0.07319296011124171 Centerline is valid? [True, True] Translation: X:57.93, Y:-5.82, Z:-6.82 [[ 9.60306912e-01 2.65775005e-01 8.47011247e-02 5.79259545e+01] [-2.65002713e-01 9.64030973e-01 -2.04412880e-02 -5.81861108e+00] [-8.70872910e-02 -2.81611767e-03 9.96196704e-01 -6.82267040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.526296757000004 meters 0.07260739640751349 Centerline is valid? [True, True] Translation: X:57.96, Y:-5.83, Z:-6.82 [[ 9.60414339e-01 2.65184117e-01 8.53327708e-02 5.79566116e+01] [-2.64396679e-01 9.64193815e-01 -2.06078316e-02 -5.82985355e+00] [-8.77421995e-02 -2.76964424e-03 9.96139366e-01 -6.82372165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.556296757 meters 0.073258137559222 Centerline is valid? [True, True] Translation: X:57.99, Y:-5.84, Z:-6.83 [[ 9.60534365e-01 2.64887494e-01 8.49019939e-02 5.79872817e+01] [-2.64104980e-01 9.64275522e-01 -2.05250434e-02 -5.83621609e+00] [-8.73057418e-02 -2.70802988e-03 9.96177883e-01 -6.82960036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.586296757 meters 0.0726889182014133 Centerline is valid? [True, True] Translation: X:58.02, Y:-5.85, Z:-6.83 [[ 9.61074792e-01 2.63333588e-01 8.36101946e-02 5.80175045e+01] [-2.62566884e-01 9.64701584e-01 -2.02357705e-02 -5.84585823e+00] [-8.59876452e-02 -2.50517928e-03 9.96293054e-01 -6.83306954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.616296757 meters 0.07260634832465881 Centerline is valid? [True, True] Translation: X:58.05, Y:-5.85, Z:-6.84 [[ 9.61537000e-01 2.61426533e-01 8.42779061e-02 5.80480358e+01] [-2.60638325e-01 9.65220559e-01 -2.04190082e-02 -5.85242884e+00] [-8.66848381e-02 -2.33242035e-03 9.96233054e-01 -6.83807980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.646296757 meters 0.07264647793601467 Centerline is valid? [True, True] Translation: X:58.08, Y:-5.86, Z:-6.84 [[ 9.61911344e-01 2.60111740e-01 8.40740688e-02 5.80789609e+01] [-2.59320101e-01 9.65576053e-01 -2.03953532e-02 -5.86141896e+00] [-8.64849783e-02 -2.18357435e-03 9.96250762e-01 -6.84345985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.676296757 meters 0.07228394641081688 Centerline is valid? [True, True] Translation: X:58.11, Y:-5.87, Z:-6.84 [[ 9.62164974e-01 2.58791061e-01 8.52393696e-02 5.81097322e+01] [-2.57971446e-01 9.65931071e-01 -2.06857229e-02 -5.87290441e+00] [-8.76886357e-02 -2.08624541e-03 9.96145748e-01 -6.84470809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.706296757000004 meters 0.07224775608946499 Centerline is valid? [True, True] Translation: X:58.14, Y:-5.88, Z:-6.85 [[ 9.62066590e-01 2.59024501e-01 8.56398526e-02 5.81407739e+01] [-2.58197766e-01 9.65868438e-01 -2.07864117e-02 -5.88015679e+00] [-8.81010205e-02 -2.11410642e-03 9.96109302e-01 -6.84872425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.736296757000005 meters 0.07191363136540822 Centerline is valid? [True, True] Translation: X:58.17, Y:-5.89, Z:-6.85 [[ 9.61694624e-01 2.59912125e-01 8.71156549e-02 5.81718220e+01] [-2.59058241e-01 9.65629740e-01 -2.11667991e-02 -5.88808579e+00] [-8.96229749e-02 -2.21203136e-03 9.95973308e-01 -6.85041740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.766296757 meters 0.07288604503415301 Centerline is valid? [True, True] Translation: X:58.20, Y:-5.89, Z:-6.86 [[ 9.60957212e-01 2.62297832e-01 8.80970142e-02 5.82030487e+01] [-2.61432368e-01 9.64983886e-01 -2.14293504e-02 -5.88821008e+00] [-9.06330713e-02 -2.43872227e-03 9.95881368e-01 -6.85711831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.796296757 meters 0.07315862588088783 Centerline is valid? [True, True] Translation: X:58.23, Y:-5.89, Z:-6.86 [[ 9.60526514e-01 2.63848880e-01 8.81622629e-02 5.82344012e+01] [-2.62986703e-01 9.64560616e-01 -2.14665182e-02 -5.89372780e+00] [-9.07017634e-02 -2.56634291e-03 9.95874793e-01 -6.86014213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.826296757 meters 0.07309042111185436 Centerline is valid? [True, True] Translation: X:58.27, Y:-5.90, Z:-6.86 [[ 9.59778653e-01 2.66199824e-01 8.92333534e-02 5.82650243e+01] [-2.65324346e-01 9.63913805e-01 -2.17524205e-02 -5.90210383e+00] [-9.18037517e-02 -2.79827233e-03 9.95773187e-01 -6.86047395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.856296757 meters 0.0730365106426019 Centerline is valid? [True, True] Translation: X:58.30, Y:-5.91, Z:-6.86 [[ 9.59328560e-01 2.67586030e-01 8.99245774e-02 5.82960982e+01] [-2.66702095e-01 9.63529473e-01 -2.19304866e-02 -5.91060009e+00] [-9.25132725e-02 -2.94453100e-03 9.95707098e-01 -6.86271439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.886296757000004 meters 0.07370855684679128 Centerline is valid? [True, True] Translation: X:58.33, Y:-5.91, Z:-6.87 [[ 9.58621823e-01 2.70423684e-01 8.89675915e-02 5.83266931e+01] [-2.69568281e-01 9.62736233e-01 -2.17229871e-02 -5.91343039e+00] [-9.15267341e-02 -3.15871120e-03 9.95797610e-01 -6.86749273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.916296757000005 meters 0.07438261480134883 Centerline is valid? [True, True] Translation: X:58.36, Y:-5.92, Z:-6.87 [[ 9.58083073e-01 2.72431743e-01 8.86440712e-02 5.83574520e+01] [-2.71589962e-01 9.62169363e-01 -2.16566252e-02 -5.91614858e+00] [-9.11905617e-02 -3.32599396e-03 9.95827906e-01 -6.87222219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.946296757 meters 0.07523855491342808 Centerline is valid? [True, True] Translation: X:58.39, Y:-5.92, Z:-6.88 [[ 9.56834540e-01 2.77541585e-01 8.62457662e-02 5.83889763e+01] [-2.76765252e-01 9.60706474e-01 -2.10728600e-02 -5.91739707e+00] [-8.87054609e-02 -3.70659087e-03 9.96051004e-01 -6.87751296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.976296757 meters 0.0756168724908548 Centerline is valid? [True, True] Translation: X:58.42, Y:-5.92, Z:-6.88 [[ 9.56370442e-01 2.79397219e-01 8.53977290e-02 5.84204289e+01] [-2.78641437e-01 9.60168015e-01 -2.08885992e-02 -5.92271498e+00] [-8.78323844e-02 -3.81810708e-03 9.96127951e-01 -6.88196001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.006296757 meters 0.07575585919128278 Centerline is valid? [True, True] Translation: X:58.45, Y:-5.93, Z:-6.88 [[ 9.55728546e-01 2.82095302e-01 8.36969909e-02 5.84513471e+01] [-2.81379156e-01 9.59378137e-01 -2.04783180e-02 -5.92841094e+00] [-8.60739005e-02 -3.97887559e-03 9.96280810e-01 -6.88458801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.036296757 meters 0.07604101213511417 Centerline is valid? [True, True] Translation: X:58.48, Y:-5.94, Z:-6.89 [[ 9.55601478e-01 2.82559041e-01 8.35835094e-02 5.84827958e+01] [-2.81846436e-01 9.59241514e-01 -2.04525003e-02 -5.93526238e+00] [-8.59558110e-02 -4.01327469e-03 9.96290867e-01 -6.88800609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.066296757 meters 0.07598347510430577 Centerline is valid? [True, True] Translation: X:58.51, Y:-5.94, Z:-6.89 [[ 9.55567203e-01 2.82619510e-01 8.37707161e-02 5.85137382e+01] [-2.81902033e-01 9.59223728e-01 -2.05203198e-02 -5.94441873e+00] [-8.61543013e-02 -4.00659064e-03 9.96273749e-01 -6.89018947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.096296757000005 meters 0.07559609938949109 Centerline is valid? [True, True] Translation: X:58.54, Y:-5.95, Z:-6.89 [[ 9.55844410e-01 2.81404427e-01 8.46936431e-02 5.85436831e+01] [-2.80664139e-01 9.59581267e-01 -2.07709601e-02 -5.95215649e+00] [-8.71154735e-02 -3.91666238e-03 9.96190521e-01 -6.89251509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.126296757 meters 0.0755999744948525 Centerline is valid? [True, True] Translation: X:58.57, Y:-5.95, Z:-6.90 [[ 9.55942519e-01 2.80688023e-01 8.59542593e-02 5.85749025e+01] [-2.79921259e-01 9.59791159e-01 -2.10955135e-02 -5.95478565e+00] [-8.84193961e-02 -3.89432614e-03 9.96075722e-01 -6.89649077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.156296757 meters 0.07547889515385384 Centerline is valid? [True, True] Translation: X:58.61, Y:-5.96, Z:-6.90 [[ 9.56050404e-01 2.80594273e-01 8.50557468e-02 5.86072886e+01] [-2.79841484e-01 9.59818842e-01 -2.08934274e-02 -5.96114023e+00] [-8.75006844e-02 -3.82695674e-03 9.96157108e-01 -6.90093464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.186296757 meters 0.07607868545634185 Centerline is valid? [True, True] Translation: X:58.64, Y:-5.96, Z:-6.91 [[ 9.55933242e-01 2.81428931e-01 8.36025964e-02 5.86383242e+01] [-2.80702634e-01 9.59574505e-01 -2.05621332e-02 -5.96498545e+00] [-8.60096992e-02 -3.81144239e-03 9.96287009e-01 -6.90539236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.216296757 meters 0.07622138224326586 Centerline is valid? [True, True] Translation: X:58.67, Y:-5.97, Z:-6.91 [[ 9.55816932e-01 2.81960632e-01 8.31396062e-02 5.86691839e+01] [-2.81242734e-01 9.59418373e-01 -2.04672999e-02 -5.97237436e+00] [-8.55366385e-02 -3.81941840e-03 9.96327705e-01 -6.90866992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.246296757 meters 0.07632233669994443 Centerline is valid? [True, True] Translation: X:58.70, Y:-5.98, Z:-6.91 [[ 9.55766731e-01 2.82243239e-01 8.27569351e-02 5.87006562e+01] [-2.81531224e-01 9.59335323e-01 -2.03938278e-02 -5.97926503e+00] [-8.51476710e-02 -3.80691916e-03 9.96361070e-01 -6.91164113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.276296757000004 meters 0.07662262667766137 Centerline is valid? [True, True] Translation: X:58.73, Y:-5.98, Z:-6.92 [[ 9.55399859e-01 2.82641684e-01 8.55849771e-02 5.87318168e+01] [-2.81879691e-01 9.59217418e-01 -2.11136190e-02 -5.98140426e+00] [-8.80621896e-02 -3.95271836e-03 9.96107136e-01 -6.91554100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.306296757 meters 0.07519598384266725 Centerline is valid? [True, True] Translation: X:58.76, Y:-5.99, Z:-6.92 [[ 9.55237947e-01 2.83060952e-01 8.60055980e-02 5.87637417e+01] [-2.82291525e-01 9.59093608e-01 -2.12355042e-02 -5.99200599e+00] [-8.84983613e-02 -3.99369206e-03 9.96068316e-01 -6.91623870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.336296757 meters 0.07562204467662689 Centerline is valid? [True, True] Translation: X:58.79, Y:-5.99, Z:-6.92 [[ 9.54833509e-01 2.84445025e-01 8.59301876e-02 5.87947594e+01] [-2.83680102e-01 9.58683620e-01 -2.12442072e-02 -5.99413776e+00] [-8.84226724e-02 -4.09200346e-03 9.96074639e-01 -6.91892486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.366296757 meters 0.07522319355151012 Centerline is valid? [True, True] Translation: X:58.83, Y:-6.00, Z:-6.92 [[ 9.54630971e-01 2.85116856e-01 8.59539846e-02 5.88258163e+01] [-2.84352414e-01 9.58483841e-01 -2.12704368e-02 -6.00236285e+00] [-8.84500654e-02 -4.13580529e-03 9.96072026e-01 -6.92206414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.396296757 meters 0.07543453997198173 Centerline is valid? [True, True] Translation: X:58.86, Y:-6.01, Z:-6.93 [[ 9.54373633e-01 2.86137244e-01 8.54192343e-02 5.88560574e+01] [-2.85383966e-01 9.58179536e-01 -2.11652465e-02 -6.00596810e+00] [-8.79031277e-02 -4.17772673e-03 9.96120267e-01 -6.92670896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.426296757 meters 0.07612664696336825 Centerline is valid? [True, True] Translation: X:58.89, Y:-6.01, Z:-6.93 [[ 9.54291726e-01 2.86617289e-01 8.47220839e-02 5.88860177e+01] [-2.85877896e-01 9.58036023e-01 -2.09954344e-02 -6.01096755e+00] [-8.71844628e-02 -4.18440178e-03 9.96183397e-01 -6.93109886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.456296757000004 meters 0.07526716492004437 Centerline is valid? [True, True] Translation: X:58.92, Y:-6.02, Z:-6.93 [[ 9.54336685e-01 2.86868733e-01 8.33535982e-02 5.89169807e+01] [-2.86152731e-01 9.57961021e-01 -2.06711668e-02 -6.02096277e+00] [-8.57794094e-02 -4.12460693e-03 9.96305616e-01 -6.93347790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.486296757000005 meters 0.07602695776106952 Centerline is valid? [True, True] Translation: X:58.95, Y:-6.02, Z:-6.94 [[ 9.54129933e-01 2.88018730e-01 8.17391153e-02 5.89483726e+01] [-2.87332608e-01 9.57615892e-01 -2.02922513e-02 -6.02066573e+00] [-8.41192243e-02 -4.12486880e-03 9.96447159e-01 -6.94128862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.516296757 meters 0.07663284937426403 Centerline is valid? [True, True] Translation: X:58.98, Y:-6.02, Z:-6.95 [[ 9.53978605e-01 2.88676303e-01 8.11838189e-02 5.89788591e+01] [-2.87999935e-01 9.57417838e-01 -2.01772432e-02 -6.02428243e+00] [-8.35515283e-02 -4.13227621e-03 9.96494890e-01 -6.94738353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.546296757 meters 0.07601757837420559 Centerline is valid? [True, True] Translation: X:59.01, Y:-6.03, Z:-6.95 [[ 9.53834321e-01 2.89595323e-01 7.95904347e-02 5.90094406e+01] [-2.88947440e-01 9.57140321e-01 -1.97935223e-02 -6.03464400e+00] [-8.19113256e-02 -4.11771142e-03 9.96631115e-01 -6.94848092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.576296757 meters 0.07623066204774322 Centerline is valid? [True, True] Translation: X:59.04, Y:-6.04, Z:-6.95 [[ 9.53809716e-01 2.89709206e-01 7.94707627e-02 5.90397894e+01] [-2.89063725e-01 9.57105838e-01 -1.97630396e-02 -6.04243394e+00] [-8.17874655e-02 -4.12193545e-03 9.96641270e-01 -6.95269759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.606296757 meters 0.07638290136469568 Centerline is valid? [True, True] Translation: X:59.07, Y:-6.05, Z:-6.96 [[ 9.53664153e-01 2.89835347e-01 8.07474708e-02 5.90710826e+01] [-2.89167120e-01 9.57067424e-01 -2.01077765e-02 -6.05126379e+00] [-8.31087183e-02 -4.17344801e-03 9.96531747e-01 -6.95539851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.636296757000004 meters 0.07621842117392318 Centerline is valid? [True, True] Translation: X:59.10, Y:-6.06, Z:-6.96 [[ 9.53394451e-01 2.90380762e-01 8.19636087e-02 5.91022963e+01] [-2.89693557e-01 9.56901624e-01 -2.04187370e-02 -6.05687431e+00] [-8.43603188e-02 -4.27721876e-03 9.96426135e-01 -6.95954996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.666296757000005 meters 0.07548708303268817 Centerline is valid? [True, True] Translation: X:59.13, Y:-6.07, Z:-6.96 [[ 9.53030362e-01 2.91645749e-01 8.17060895e-02 5.91332598e+01] [-2.90965764e-01 9.56516484e-01 -2.03749729e-02 -6.06562871e+00] [-8.40954957e-02 -4.35570699e-03 9.96448180e-01 -6.96029201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.696296757 meters 0.0767324496584107 Centerline is valid? [True, True] Translation: X:59.16, Y:-6.07, Z:-6.97 [[ 9.52665207e-01 2.92357821e-01 8.34020908e-02 5.91644706e+01] [-2.91649782e-01 9.56298478e-01 -2.08236962e-02 -6.06722357e+00] [-8.58452629e-02 -4.48619075e-03 9.96298381e-01 -6.96704712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.726296757 meters 0.0755233030096982 Centerline is valid? [True, True] Translation: X:59.19, Y:-6.08, Z:-6.97 [[ 9.52197951e-01 2.93934095e-01 8.31974148e-02 5.91943427e+01] [-2.93234695e-01 9.55814583e-01 -2.07821105e-02 -6.07818065e+00] [-8.56298732e-02 -4.60768551e-03 9.96316362e-01 -6.96753574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.756296757 meters 0.07593058039647589 Centerline is valid? [True, True] Translation: X:59.23, Y:-6.09, Z:-6.97 [[ 9.52016444e-01 2.94752403e-01 8.23754288e-02 5.92254517e+01] [-2.94068150e-01 9.55562512e-01 -2.05963306e-02 -6.08628863e+00] [-8.47856896e-02 -4.61594452e-03 9.96388519e-01 -6.97186594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.786296757 meters 0.0757977627728979 Centerline is valid? [True, True] Translation: X:59.26, Y:-6.10, Z:-6.98 [[ 9.51916346e-01 2.95635655e-01 8.03419502e-02 5.92559904e+01] [-2.94985713e-01 9.55289922e-01 -2.01145185e-02 -6.09650977e+00] [-8.26964242e-02 -4.55238846e-03 9.96564387e-01 -6.97504288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.816296757 meters 0.07618682700073436 Centerline is valid? [True, True] Translation: X:59.29, Y:-6.10, Z:-6.98 [[ 9.51890861e-01 2.95379638e-01 8.15760900e-02 5.92866781e+01] [-2.94708283e-01 9.55368904e-01 -2.04275570e-02 -6.10190862e+00] [-8.39691441e-02 -4.59634461e-03 9.96457754e-01 -6.97970812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.846296757000005 meters 0.07618682700073436 Centerline is valid? [True, True] Translation: X:59.32, Y:-6.11, Z:-6.98 [[ 9.51808085e-01 2.95646774e-01 8.15742210e-02 5.93179442e+01] [-2.94975758e-01 9.55286194e-01 -2.04350198e-02 -6.10982643e+00] [-8.39682748e-02 -4.61220058e-03 9.96457754e-01 -6.98347029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.876296757 meters 0.07599271263251742 Centerline is valid? [True, True] Translation: X:59.35, Y:-6.11, Z:-6.99 [[ 9.51909378e-01 2.95184742e-01 8.20640226e-02 5.93502593e+01] [-2.94501305e-01 9.55429269e-01 -2.05886625e-02 -6.11385119e+00] [-8.44838282e-02 -4.56942085e-03 9.96414373e-01 -6.98811167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.906296757 meters 0.07587678860425856 Centerline is valid? [True, True] Translation: X:59.38, Y:-6.12, Z:-6.99 [[ 9.52229403e-01 2.94233821e-01 8.17656529e-02 5.93802937e+01] [-2.93551596e-01 9.55723034e-01 -2.05169117e-02 -6.11961079e+00] [-8.41820872e-02 -4.46563133e-03 9.96440382e-01 -6.99197073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.936296757 meters 0.07601444411517681 Centerline is valid? [True, True] Translation: X:59.41, Y:-6.13, Z:-7.00 [[ 9.52542147e-01 2.93274874e-01 8.15678044e-02 5.94110732e+01] [-2.92590832e-01 9.56018258e-01 -2.04864503e-02 -6.12605946e+00] [-8.39884714e-02 -4.35178445e-03 9.96457224e-01 -6.99595022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.966296757 meters 0.07520882646934882 Centerline is valid? [True, True] Translation: X:59.44, Y:-6.14, Z:-7.00 [[ 9.53563087e-01 2.90368695e-01 8.00216256e-02 5.94410205e+01] [-2.89697982e-01 9.56906518e-01 -2.01244912e-02 -6.13853562e+00] [-8.24167374e-02 -3.99213150e-03 9.96589958e-01 -6.99677323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.996296757 meters 0.07469353436497357 Centerline is valid? [True, True] Translation: X:59.47, Y:-6.15, Z:-7.00 [[ 9.54504285e-01 2.87507040e-01 7.91282052e-02 5.94703622e+01] [-2.86841057e-01 9.57771384e-01 -1.99043691e-02 -6.14983907e+00] [-8.15093768e-02 -3.69841247e-03 9.96665713e-01 -6.99793118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.026296757000004 meters 0.07480326860027335 Centerline is valid? [True, True] Translation: X:59.50, Y:-6.15, Z:-7.00 [[ 9.54782647e-01 2.86821679e-01 7.82522955e-02 5.95002739e+01] [-2.86168046e-01 9.57977230e-01 -1.96844374e-02 -6.15490270e+00] [-8.06098406e-02 -3.59894728e-03 9.96739234e-01 -7.00392464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.056296757000005 meters 0.07471151780255347 Centerline is valid? [True, True] Translation: X:59.53, Y:-6.16, Z:-7.01 [[ 9.54873275e-01 2.86656479e-01 7.77501930e-02 5.95322548e+01] [-2.86010187e-01 9.58026836e-01 -1.95641390e-02 -6.15957523e+00] [-8.00949585e-02 -3.55607377e-03 9.96780895e-01 -7.00917100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.086296757 meters 0.07499826114542467 Centerline is valid? [True, True] Translation: X:59.56, Y:-6.16, Z:-7.01 [[ 9.54579972e-01 2.87536918e-01 7.80999167e-02 5.95629429e+01] [-2.86885745e-01 9.57762704e-01 -1.96767193e-02 -6.16142965e+00] [-8.04589706e-02 -3.62275061e-03 9.96751338e-01 -7.01469616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.116296757 meters 0.07446211751478808 Centerline is valid? [True, True] Translation: X:59.59, Y:-6.17, Z:-7.02 [[ 9.54395082e-01 2.87983026e-01 7.87134346e-02 5.95939626e+01] [-2.87321640e-01 9.57628472e-01 -1.98490281e-02 -6.17039249e+00] [-8.10944093e-02 -3.67225831e-03 9.96699660e-01 -7.01634538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.146296757 meters 0.07536943702980553 Centerline is valid? [True, True] Translation: X:59.62, Y:-6.18, Z:-7.02 [[ 9.54194194e-01 2.88925486e-01 7.76885016e-02 5.96240935e+01] [-2.88282725e-01 9.57344500e-01 -1.96106635e-02 -6.17740599e+00] [-8.00406803e-02 -3.68387166e-03 9.96784791e-01 -7.01915861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.176296757 meters 0.07439811754355898 Centerline is valid? [True, True] Translation: X:59.65, Y:-6.19, Z:-7.02 [[ 9.54159892e-01 2.88984711e-01 7.78892682e-02 5.96542684e+01] [-2.88337393e-01 9.57326634e-01 -1.96790290e-02 -6.18934859e+00] [-8.02524094e-02 -3.68144835e-03 9.96767775e-01 -7.02049686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.206296757000004 meters 0.07560175291148263 Centerline is valid? [True, True] Translation: X:59.69, Y:-6.19, Z:-7.03 [[ 9.54223408e-01 2.89402755e-01 7.55230657e-02 5.96851545e+01] [-2.88794013e-01 9.57200708e-01 -1.91003235e-02 -6.19182265e+00] [-7.78184183e-02 -3.58463340e-03 9.96961105e-01 -7.02821274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.236296757000005 meters 0.07396145782439675 Centerline is valid? [True, True] Translation: X:59.72, Y:-6.20, Z:-7.03 [[ 9.54149063e-01 2.89823060e-01 7.48475778e-02 5.97154050e+01] [-2.89225184e-01 9.57073584e-01 -1.89459158e-02 -6.20395808e+00] [-7.71256028e-02 -3.57057665e-03 9.97014991e-01 -7.02788139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.266296757 meters 0.07467067421915188 Centerline is valid? [True, True] Translation: X:59.75, Y:-6.21, Z:-7.03 [[ 9.54022045e-01 2.90811805e-01 7.25977461e-02 5.97451954e+01] [-2.90250722e-01 9.56773796e-01 -1.83962594e-02 -6.20951584e+00] [-7.48094705e-02 -3.52111118e-03 9.97191629e-01 -7.03420690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.296296757 meters 0.07355751208567111 Centerline is valid? [True, True] Translation: X:59.78, Y:-6.22, Z:-7.03 [[ 9.53966232e-01 2.91353023e-01 7.11466394e-02 5.97752213e+01] [-2.90814160e-01 9.56609303e-01 -1.80489766e-02 -6.22232353e+00] [-7.33181610e-02 -3.47233603e-03 9.97302557e-01 -7.03394702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.326296757 meters 0.07383265415945922 Centerline is valid? [True, True] Translation: X:59.80, Y:-6.23, Z:-7.04 [[ 9.54049293e-01 2.90655981e-01 7.28632086e-02 5.98045504e+01] [-2.90088154e-01 9.56821244e-01 -1.84924555e-02 -6.22979849e+00] [-7.50920087e-02 -3.49403960e-03 9.97170488e-01 -7.03765396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.356296757 meters 0.07360900453121737 Centerline is valid? [True, True] Translation: X:59.84, Y:-6.24, Z:-7.04 [[ 9.53971007e-01 2.90812647e-01 7.32620080e-02 5.98355563e+01] [-2.90239643e-01 9.56773495e-01 -1.85857324e-02 -6.23862703e+00] [-7.55001135e-02 -3.53328920e-03 9.97139533e-01 -7.04095468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.386296757000004 meters 0.07283495872293749 Centerline is valid? [True, True] Translation: X:59.87, Y:-6.25, Z:-7.04 [[ 9.53728122e-01 2.91047024e-01 7.54605821e-02 5.98659714e+01] [-2.90438231e-01 9.56701826e-01 -1.91637906e-02 -6.24836894e+00] [-7.77708409e-02 -3.63959192e-03 9.96964618e-01 -7.04472349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.416296757000005 meters 0.07333379340986024 Centerline is valid? [True, True] Translation: X:59.90, Y:-6.25, Z:-7.05 [[ 9.53643023e-01 2.91244900e-01 7.57719777e-02 5.98963574e+01] [-2.90630041e-01 9.56641563e-01 -1.92639251e-02 -6.25428120e+00] [-7.80971432e-02 -3.65070518e-03 9.96939070e-01 -7.04952403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.446296757 meters 0.07354469229542394 Centerline is valid? [True, True] Translation: X:59.93, Y:-6.26, Z:-7.05 [[ 9.53843237e-01 2.91065744e-01 7.39175992e-02 5.99264562e+01] [-2.90478743e-01 9.56696543e-01 -1.88102185e-02 -6.26203152e+00] [-7.61917219e-02 -3.52949162e-03 9.97086939e-01 -7.05344844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.476296757 meters 0.07336364945785659 Centerline is valid? [True, True] Translation: X:59.96, Y:-6.27, Z:-7.06 [[ 9.53767367e-01 2.91077223e-01 7.48455717e-02 5.99561581e+01] [-2.90474040e-01 9.56692945e-01 -1.90641252e-02 -6.27336011e+00] [-7.71533630e-02 -3.55795513e-03 9.97012888e-01 -7.05635203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.506296757 meters 0.07306608222593157 Centerline is valid? [True, True] Translation: X:59.99, Y:-6.28, Z:-7.06 [[ 9.53871195e-01 2.90692802e-01 7.50162547e-02 5.99867001e+01] [-2.90084166e-01 9.56809977e-01 -1.91270942e-02 -6.28322231e+00] [-7.73364095e-02 -3.51624350e-03 9.96998854e-01 -7.05862088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.536296757 meters 0.07348223227611239 Centerline is valid? [True, True] Translation: X:60.02, Y:-6.29, Z:-7.06 [[ 9.53627827e-01 2.90967000e-01 7.70206025e-02 6.00176536e+01] [-2.90324590e-01 9.56726266e-01 -1.96592087e-02 -6.28812793e+00] [-7.94078144e-02 -3.61340636e-03 9.96835665e-01 -7.06268768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.566296757 meters 0.07264486714745268 Centerline is valid? [True, True] Translation: X:60.05, Y:-6.30, Z:-7.06 [[ 9.53224589e-01 2.91748880e-01 7.90283113e-02 6.00486653e+01] [-2.91073448e-01 9.56487582e-01 -2.01929230e-02 -6.29712600e+00] [-8.14808611e-02 -3.75465229e-03 9.96667834e-01 -7.06388241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.596296757000005 meters 0.072645345049721 Centerline is valid? [True, True] Translation: X:60.08, Y:-6.30, Z:-7.07 [[ 9.52895164e-01 2.91879741e-01 8.24440672e-02 6.00797099e+01] [-2.91142608e-01 9.56447067e-01 -2.10947737e-02 -6.30249985e+00] [-8.50105234e-02 -3.90187288e-03 9.96372413e-01 -7.06751488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.626296757 meters 0.07245910467254442 Centerline is valid? [True, True] Translation: X:60.11, Y:-6.31, Z:-7.07 [[ 9.52796918e-01 2.92185091e-01 8.24979154e-02 6.01114558e+01] [-2.91448352e-01 9.56353698e-01 -2.11059999e-02 -6.31149602e+00] [-8.50640449e-02 -3.93414979e-03 9.96367719e-01 -7.06993135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.656296757 meters 0.07313283469215338 Centerline is valid? [True, True] Translation: X:60.14, Y:-6.32, Z:-7.08 [[ 9.52624967e-01 2.92716125e-01 8.26011035e-02 6.01421640e+01] [-2.91977350e-01 9.56191179e-01 -2.11578703e-02 -6.31937244e+00] [-8.51756964e-02 -3.96213581e-03 9.96358069e-01 -7.07531317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.686296757 meters 0.07335950273139359 Centerline is valid? [True, True] Translation: X:60.17, Y:-6.33, Z:-7.08 [[ 9.52508828e-01 2.93204080e-01 8.22088804e-02 6.01733304e+01] [-2.92472129e-01 9.56041659e-01 -2.10808195e-02 -6.32738589e+00] [-8.47760967e-02 -3.96413957e-03 9.96392141e-01 -7.07933337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.716296757 meters 0.07321362564262782 Centerline is valid? [True, True] Translation: X:60.20, Y:-6.33, Z:-7.08 [[ 9.52541319e-01 2.93326982e-01 8.13899098e-02 6.02044954e+01] [-2.92608259e-01 9.56004159e-01 -2.08915041e-02 -6.33457375e+00] [-8.39371341e-02 -3.91533895e-03 9.96463360e-01 -7.08451502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.746296757 meters 0.07291839011956794 Centerline is valid? [True, True] Translation: X:60.24, Y:-6.34, Z:-7.09 [[ 9.52420165e-01 2.93696362e-01 8.14756135e-02 6.02356482e+01] [-2.92975802e-01 9.55890672e-01 -2.09332771e-02 -6.34281767e+00] [-8.40298063e-02 -3.93310799e-03 9.96455479e-01 -7.08830274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.776296757000004 meters 0.07250563024409658 Centerline is valid? [True, True] Translation: X:60.27, Y:-6.35, Z:-7.09 [[ 9.52250362e-01 2.94122956e-01 8.19202940e-02 6.02681101e+01] [-2.93393982e-01 9.55759350e-01 -2.10721907e-02 -6.34955874e+00] [-8.44939019e-02 -3.96891999e-03 9.96416092e-01 -7.09237369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.806296757000005 meters 0.07423251821933921 Centerline is valid? [True, True] Translation: X:60.30, Y:-6.35, Z:-7.10 [[ 9.52068725e-01 2.94543136e-01 8.25195930e-02 6.02994283e+01] [-2.93802700e-01 9.55629773e-01 -2.12534750e-02 -6.35112832e+00] [-8.51182451e-02 -4.00971044e-03 9.96362789e-01 -7.10002155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.836296757 meters 0.07467139615811681 Centerline is valid? [True, True] Translation: X:60.33, Y:-6.36, Z:-7.10 [[ 9.51991663e-01 2.95032296e-01 8.16567074e-02 6.03300952e+01] [-2.94307412e-01 9.55478942e-01 -2.10508559e-02 -6.35841642e+00] [-8.42319467e-02 -3.99193494e-03 9.96438179e-01 -7.10410462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.866296757 meters 0.07384895653691784 Centerline is valid? [True, True] Translation: X:60.36, Y:-6.37, Z:-7.11 [[ 9.51209257e-01 2.97448421e-01 8.20084479e-02 6.03605581e+01] [-2.96724023e-01 9.54728654e-01 -2.11672492e-02 -6.36953074e+00] [-8.45919799e-02 -4.19939321e-03 9.96406826e-01 -7.10539812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.896296757 meters 0.07406796240655748 Centerline is valid? [True, True] Translation: X:60.39, Y:-6.38, Z:-7.11 [[ 9.50628662e-01 2.99203051e-01 8.23570386e-02 6.03915424e+01] [-2.98478497e-01 9.54179466e-01 -2.12634298e-02 -6.37903097e+00] [-8.49454782e-02 -4.36817935e-03 9.96376026e-01 -7.10855434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.926296757 meters 0.07449332503857108 Centerline is valid? [True, True] Translation: X:60.42, Y:-6.38, Z:-7.11 [[ 9.50481453e-01 2.99743791e-01 8.20893815e-02 6.04219075e+01] [-2.99025851e-01 9.54009587e-01 -2.11954884e-02 -6.38478779e+00] [-8.46672730e-02 -4.40092857e-03 9.96399561e-01 -7.11386713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.956296757000004 meters 0.07454293733124982 Centerline is valid? [True, True] Translation: X:60.45, Y:-6.39, Z:-7.12 [[ 9.50152350e-01 3.00920029e-01 8.15944092e-02 6.04529178e+01] [-3.00212924e-01 9.53638975e-01 -2.10927700e-02 -6.39204701e+00] [-8.41588457e-02 -4.45435126e-03 9.96442395e-01 -7.11808706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.986296757000005 meters 0.0758144266301612 Centerline is valid? [True, True] Translation: X:60.48, Y:-6.39, Z:-7.13 [[ 9.49529087e-01 3.02923904e-01 8.14347654e-02 6.04843068e+01] [-3.02226810e-01 9.53003540e-01 -2.10525062e-02 -6.39274554e+00] [-8.39849271e-02 -4.62180236e-03 9.96456307e-01 -7.12594414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.016296757 meters 0.07606479282325077 Centerline is valid? [True, True] Translation: X:60.52, Y:-6.40, Z:-7.13 [[ 9.49029613e-01 3.04119467e-01 8.27897500e-02 6.05154301e+01] [-3.03401879e-01 9.52621864e-01 -2.14215639e-02 -6.40259044e+00] [-8.53820406e-02 -4.78886722e-03 9.96336777e-01 -7.12793267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.046296757 meters 0.07472822367009586 Centerline is valid? [True, True] Translation: X:60.54, Y:-6.42, Z:-7.13 [[ 9.49031600e-01 3.03910659e-01 8.35304366e-02 6.05446876e+01] [-3.03177145e-01 9.52688501e-01 -2.16388150e-02 -6.41746642e+00] [-8.61547530e-02 -4.78860009e-03 9.96270258e-01 -7.12859641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.076296757 meters 0.07633753702230957 Centerline is valid? [True, True] Translation: X:60.58, Y:-6.42, Z:-7.13 [[ 9.49268278e-01 3.03214988e-01 8.33691015e-02 6.05750901e+01] [-3.02479444e-01 9.52910624e-01 -2.16224303e-02 -6.42240278e+00] [-8.59995475e-02 -4.69195226e-03 9.96284128e-01 -7.13481976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.106296757 meters 0.07383447582417269 Centerline is valid? [True, True] Translation: X:60.60, Y:-6.44, Z:-7.14 [[ 9.50491632e-01 2.99713146e-01 8.20834159e-02 6.06038135e+01] [-2.98985852e-01 9.54019708e-01 -2.13039156e-02 -6.43932511e+00] [-8.46942601e-02 -4.29258653e-03 9.96397740e-01 -7.13628144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.136296757000004 meters 0.07407821504220462 Centerline is valid? [True, True] Translation: X:60.63, Y:-6.45, Z:-7.14 [[ 9.51000446e-01 2.97953222e-01 8.25955772e-02 6.06335217e+01] [-2.97209758e-01 9.54571421e-01 -2.14420425e-02 -6.44563719e+00] [-8.52321031e-02 -4.15681955e-03 9.96352452e-01 -7.14150214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.166296757000005 meters 0.07332816873090173 Centerline is valid? [True, True] Translation: X:60.66, Y:-6.46, Z:-7.14 [[ 9.52094464e-01 2.94739351e-01 8.15159231e-02 6.06626138e+01] [-2.94003255e-01 9.55570069e-01 -2.11643420e-02 -6.45700321e+00] [-8.41321406e-02 -3.81549389e-03 9.96447302e-01 -7.14475285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.196296757 meters 0.07286640865985439 Centerline is valid? [True, True] Translation: X:60.69, Y:-6.47, Z:-7.15 [[ 9.52921214e-01 2.92023228e-01 8.16308353e-02 6.06923756e+01] [-2.91274606e-01 9.56404545e-01 -2.12002211e-02 -6.46832929e+00] [-8.42630590e-02 -3.57484891e-03 9.96437132e-01 -7.14833284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.226296757 meters 0.07242529382151784 Centerline is valid? [True, True] Translation: X:60.72, Y:-6.48, Z:-7.15 [[ 9.54600768e-01 2.86197079e-01 8.26353750e-02 6.07203756e+01] [-2.85407802e-01 9.58165777e-01 -2.14646400e-02 -6.48234978e+00] [-8.53215055e-02 -3.09461893e-03 9.96348666e-01 -7.15136626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.256296757 meters 0.07179679711763914 Centerline is valid? [True, True] Translation: X:60.75, Y:-6.49, Z:-7.15 [[ 9.55531974e-01 2.82620724e-01 8.41675290e-02 6.07496614e+01] [-2.81787152e-01 9.59227600e-01 -2.18726343e-02 -6.49468913e+00] [-8.69174766e-02 -2.81732680e-03 9.96211531e-01 -7.15333569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.286296757 meters 0.07139748754265456 Centerline is valid? [True, True] Translation: X:60.78, Y:-6.51, Z:-7.16 [[ 9.56420527e-01 2.79702982e-01 8.38213458e-02 6.07797404e+01] [-2.78864738e-01 9.60083227e-01 -2.17865947e-02 -6.50519507e+00] [-8.65692436e-02 -2.53767125e-03 9.96242604e-01 -7.15640846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.316296757 meters 0.0710007327820108 Centerline is valid? [True, True] Translation: X:60.81, Y:-6.52, Z:-7.16 [[ 9.57905607e-01 2.74791949e-01 8.31037421e-02 6.08088793e+01] [-2.73949161e-01 9.61501480e-01 -2.16046645e-02 -6.51632789e+00] [-8.58411589e-02 -2.07097115e-03 9.96306683e-01 -7.16003674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.346296757000005 meters 0.0707806616932094 Centerline is valid? [True, True] Translation: X:60.84, Y:-6.53, Z:-7.16 [[ 9.58644223e-01 2.72159421e-01 8.32496426e-02 6.08384734e+01] [-2.71303859e-01 9.62250417e-01 -2.16414029e-02 -6.52652040e+00] [-8.59969150e-02 -1.83954343e-03 9.96293705e-01 -7.16406872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.376296757 meters 0.07105912337327369 Centerline is valid? [True, True] Translation: X:60.87, Y:-6.54, Z:-7.17 [[ 9.58902038e-01 2.71358982e-01 8.28926028e-02 6.08690512e+01] [-2.70505962e-01 9.62476637e-01 -2.15696166e-02 -6.53615613e+00] [-8.56353027e-02 -1.73979396e-03 9.96325031e-01 -7.16857221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.406296757 meters 0.07111842997475751 Centerline is valid? [True, True] Translation: X:60.90, Y:-6.55, Z:-7.17 [[ 9.59168697e-01 2.70784159e-01 8.16783296e-02 6.08990043e+01] [-2.69952206e-01 9.62638684e-01 -2.12737040e-02 -6.54598041e+00] [-8.43873017e-02 -1.64417434e-03 9.96431674e-01 -7.17213761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.436296757 meters 0.07116421078102776 Centerline is valid? [True, True] Translation: X:60.93, Y:-6.56, Z:-7.18 [[ 9.59177589e-01 2.70727445e-01 8.17618698e-02 6.09292581e+01] [-2.69891843e-01 9.62654675e-01 -2.13159683e-02 -6.55668768e+00] [-8.44792638e-02 -1.62106270e-03 9.96423919e-01 -7.17635549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.466296757 meters 0.0714145013831884 Centerline is valid? [True, True] Translation: X:60.96, Y:-6.56, Z:-7.18 [[ 9.58902653e-01 2.71286278e-01 8.31231463e-02 6.09600058e+01] [-2.70422843e-01 9.62497242e-01 -2.16920642e-02 -6.56394996e+00] [-8.58905584e-02 -1.67781962e-03 9.96303165e-01 -7.18100481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.496296757 meters 0.07169434270135312 Centerline is valid? [True, True] Translation: X:60.99, Y:-6.57, Z:-7.18 [[ 9.57866185e-01 2.74970088e-01 8.29687986e-02 6.09913027e+01] [-2.74121442e-01 9.61450743e-01 -2.16772568e-02 -6.57013665e+00] [-8.57310103e-02 -1.97961538e-03 9.96316353e-01 -7.18418371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.526296757000004 meters 0.07214448750911652 Centerline is valid? [True, True] Translation: X:61.02, Y:-6.58, Z:-7.19 [[ 9.56609922e-01 2.79584483e-01 8.20364202e-02 6.10216699e+01] [-2.78771180e-01 9.60118196e-01 -2.14401464e-02 -6.57910206e+00] [-8.47589920e-02 -2.35953293e-03 9.96398688e-01 -7.18594747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.556296757000005 meters 0.07260514603239913 Centerline is valid? [True, True] Translation: X:61.05, Y:-6.59, Z:-7.19 [[ 9.56106297e-01 2.81702213e-01 8.06511792e-02 6.10527070e+01] [-2.80923414e-01 9.59498624e-01 -2.10814187e-02 -6.58659922e+00] [-8.33233778e-02 -2.50072744e-03 9.96519423e-01 -7.19045740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.586296757 meters 0.07319108837822441 Centerline is valid? [True, True] Translation: X:61.08, Y:-6.59, Z:-7.20 [[ 9.55585210e-01 2.84024889e-01 7.86560212e-02 6.10830808e+01] [-2.83291985e-01 9.58813286e-01 -2.05604857e-02 -6.59363193e+00] [-8.12561278e-02 -2.63532434e-03 9.96689770e-01 -7.19576383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.616296757 meters 0.07418674281162078 Centerline is valid? [True, True] Translation: X:61.11, Y:-6.60, Z:-7.20 [[ 9.54758024e-01 2.87741326e-01 7.51135503e-02 6.11123642e+01] [-2.87082734e-01 9.57704083e-01 -1.96568884e-02 -6.60236637e+00] [-7.75926529e-02 -2.79623152e-03 9.96981224e-01 -7.20138676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.646296757 meters 0.0746286615454333 Centerline is valid? [True, True] Translation: X:61.14, Y:-6.61, Z:-7.21 [[ 9.54473510e-01 2.89017477e-01 7.38188074e-02 6.11427609e+01] [-2.88384891e-01 9.57319592e-01 -1.93223630e-02 -6.61119611e+00] [-7.62526912e-02 -2.84554504e-03 9.97084465e-01 -7.20597110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.676296757 meters 0.07498031238115195 Centerline is valid? [True, True] Translation: X:61.17, Y:-6.62, Z:-7.21 [[ 9.54010064e-01 2.90211607e-01 7.51133839e-02 6.11734523e+01] [-2.89560387e-01 9.56957815e-01 -1.96601785e-02 -6.62075938e+00] [-7.75859517e-02 -2.99385238e-03 9.96981172e-01 -7.21089821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.706296757000004 meters 0.07547300512870224 Centerline is valid? [True, True] Translation: X:61.20, Y:-6.63, Z:-7.22 [[ 9.53942255e-01 2.90500290e-01 7.48582397e-02 6.12034198e+01] [-2.89852816e-01 9.56870239e-01 -1.96135200e-02 -6.62774220e+00] [-7.73273550e-02 -2.98770608e-03 9.97001281e-01 -7.21633001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.736296757000005 meters 0.07547300512870224 Centerline is valid? [True, True] Translation: X:61.23, Y:-6.64, Z:-7.22 [[ 9.53863322e-01 2.90760380e-01 7.48542900e-02 6.12345739e+01] [-2.90112524e-01 9.56791222e-01 -1.96285798e-02 -6.63600541e+00] [-7.73271409e-02 -2.99318469e-03 9.97001281e-01 -7.22009420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.766296757 meters 0.07492898971107942 Centerline is valid? [True, True] Translation: X:61.26, Y:-6.65, Z:-7.22 [[ 9.53324086e-01 2.91066187e-01 8.03346817e-02 6.12643814e+01] [-2.90318178e-01 9.56697539e-01 -2.10991421e-02 -6.64814227e+00] [-8.29972391e-02 -3.20829812e-03 9.96544613e-01 -7.22046178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.796296757 meters 0.07439241593217007 Centerline is valid? [True, True] Translation: X:61.29, Y:-6.66, Z:-7.22 [[ 9.53276985e-01 2.91142157e-01 8.06178274e-02 6.12945073e+01] [-2.90389382e-01 9.56674353e-01 -2.11704999e-02 -6.65921533e+00] [-8.32886328e-02 -3.22921071e-03 9.96520234e-01 -7.22118153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.826296757 meters 0.07513510854144094 Centerline is valid? [True, True] Translation: X:61.32, Y:-6.67, Z:-7.23 [[ 9.53049345e-01 2.91624920e-01 8.15588906e-02 6.13245387e+01] [-2.90854303e-01 9.56527100e-01 -2.14401670e-02 -6.66708522e+00] [-8.42657761e-02 -3.28821715e-03 9.96437889e-01 -7.22564157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.856296757 meters 0.07515600808655354 Centerline is valid? [True, True] Translation: X:61.36, Y:-6.68, Z:-7.23 [[ 9.53022160e-01 2.91929908e-01 8.07817559e-02 6.13551002e+01] [-2.91173424e-01 9.56434142e-01 -2.12548719e-02 -6.67587735e+00] [-8.34673622e-02 -3.26513652e-03 9.96505162e-01 -7.22991949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.886296757000004 meters 0.07547786445908308 Centerline is valid? [True, True] Translation: X:61.39, Y:-6.68, Z:-7.23 [[ 9.53031670e-01 2.92029399e-01 8.03085641e-02 6.13852312e+01] [-2.91280412e-01 9.56403871e-01 -2.11508011e-02 -6.68373575e+00] [-8.29840774e-02 -3.23492833e-03 9.96545623e-01 -7.23411862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.916296757000005 meters 0.07454598104113147 Centerline is valid? [True, True] Translation: X:61.41, Y:-6.70, Z:-7.24 [[ 9.52982518e-01 2.92416367e-01 7.94794834e-02 6.14148559e+01] [-2.91682445e-01 9.56285695e-01 -2.09528047e-02 -6.69505751e+00] [-8.21320361e-02 -3.21511345e-03 9.96616271e-01 -7.23656592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.946296757 meters 0.07515752395630451 Centerline is valid? [True, True] Translation: X:61.45, Y:-6.70, Z:-7.24 [[ 9.52746442e-01 2.93348820e-01 7.88713345e-02 6.14451960e+01] [-2.92627414e-01 9.55999958e-01 -2.08153194e-02 -6.70106114e+00] [-8.15071419e-02 -3.24819318e-03 9.96667465e-01 -7.24183180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.976296757 meters 0.07572599722873537 Centerline is valid? [True, True] Translation: X:61.48, Y:-6.71, Z:-7.24 [[ 9.52503319e-01 2.94439710e-01 7.77347060e-02 6.14752388e+01] [-2.93741720e-01 9.55664418e-01 -2.05261079e-02 -6.70849559e+00] [-8.03319939e-02 -3.28274041e-03 9.96762757e-01 -7.24487736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.006296757 meters 0.0757055685961978 Centerline is valid? [True, True] Translation: X:61.51, Y:-6.72, Z:-7.25 [[ 9.52317323e-01 2.94605015e-01 7.93700348e-02 6.15055452e+01] [-2.93877391e-01 9.55613202e-01 -2.09639713e-02 -6.71777171e+00] [-8.20231442e-02 -3.36070570e-03 9.96624759e-01 -7.24759897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.036296757 meters 0.07496790218417962 Centerline is valid? [True, True] Translation: X:61.54, Y:-6.73, Z:-7.25 [[ 9.52102601e-01 2.95047103e-01 8.02984717e-02 6.15354458e+01] [-2.94302192e-01 9.55476592e-01 -2.12297637e-02 -6.72989953e+00] [-8.29870903e-02 -3.41910297e-03 9.96544757e-01 -7.24799951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.066296757 meters 0.0761233575248579 Centerline is valid? [True, True] Translation: X:61.57, Y:-6.73, Z:-7.26 [[ 9.51892655e-01 2.95776460e-01 8.01040516e-02 6.15659600e+01] [-2.95035646e-01 9.55250952e-01 -2.12034349e-02 -6.73267318e+00] [-8.27909485e-02 -3.45015663e-03 9.96560964e-01 -7.25550538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.096296757000005 meters 0.07680424451648887 Centerline is valid? [True, True] Translation: X:61.60, Y:-6.74, Z:-7.26 [[ 9.51414082e-01 2.97679856e-01 7.87270412e-02 6.15960748e+01] [-2.96969768e-01 9.54659188e-01 -2.08516738e-02 -6.73896387e+00] [-8.13646164e-02 -3.54097509e-03 9.96678113e-01 -7.26006237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.126296757 meters 0.07674191237734468 Centerline is valid? [True, True] Translation: X:61.63, Y:-6.75, Z:-7.26 [[ 9.50934483e-01 2.99173471e-01 7.88596496e-02 6.16264258e+01] [-2.98465985e-01 9.54191668e-01 -2.08881969e-02 -6.74786560e+00] [-8.14964149e-02 -3.67361625e-03 9.96666865e-01 -7.26290156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.156296757 meters 0.07694666333284716 Centerline is valid? [True, True] Translation: X:61.66, Y:-6.76, Z:-7.27 [[ 9.50553721e-01 3.01434047e-01 7.47337899e-02 6.16564296e+01] [-3.00804225e-01 9.53480059e-01 -1.98140390e-02 -6.75716221e+00] [-7.72298043e-02 -3.64593125e-03 9.97006652e-01 -7.26635771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.186296757 meters 0.07796788198602098 Centerline is valid? [True, True] Translation: X:61.69, Y:-6.76, Z:-7.27 [[ 9.50122801e-01 3.02930433e-01 7.41607401e-02 6.16864742e+01] [-3.02313539e-01 9.53005400e-01 -1.96782189e-02 -6.76321197e+00] [-7.66367171e-02 -3.72307134e-03 9.97052131e-01 -7.27276988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.216296757 meters 0.07874527430303833 Centerline is valid? [True, True] Translation: X:61.72, Y:-6.77, Z:-7.28 [[ 9.49510663e-01 3.05369570e-01 7.19647597e-02 6.17151550e+01] [-3.04794022e-01 9.52226403e-01 -1.91175998e-02 -6.77086739e+00] [-7.43646775e-02 -3.78206367e-03 9.97223942e-01 -7.27714431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.246296757 meters 0.07897269221969351 Centerline is valid? [True, True] Translation: X:61.75, Y:-6.78, Z:-7.28 [[ 9.49190407e-01 3.06537794e-01 7.12190469e-02 6.17458560e+01] [-3.05976749e-01 9.51850803e-01 -1.89282297e-02 -6.77980374e+00] [-7.35921248e-02 -3.82487844e-03 9.97281089e-01 -7.28076236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.276296757000004 meters 0.07765810345506548 Centerline is valid? [True, True] Translation: X:61.77, Y:-6.79, Z:-7.28 [[ 9.49325529e-01 3.05870455e-01 7.22793588e-02 6.17747144e+01] [-3.05290593e-01 9.52065441e-01 -1.92106857e-02 -6.79271730e+00] [-7.46906608e-02 -3.82901394e-03 9.97199400e-01 -7.28130161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.306296757000005 meters 0.07792491022764104 Centerline is valid? [True, True] Translation: X:61.81, Y:-6.80, Z:-7.29 [[ 9.49202608e-01 3.05837936e-01 7.40105806e-02 6.18053892e+01] [-3.05228895e-01 9.52075571e-01 -1.96831990e-02 -6.80077447e+00] [-7.64835347e-02 -3.90682392e-03 9.97063190e-01 -7.28602754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.336296757 meters 0.07761311885768615 Centerline is valid? [True, True] Translation: X:61.83, Y:-6.81, Z:-7.29 [[ 9.49605295e-01 3.04265867e-01 7.53131178e-02 6.18347148e+01] [-3.03628087e-01 9.52579490e-01 -2.00574117e-02 -6.81384783e+00] [-7.78445171e-02 -3.82055344e-03 9.96958191e-01 -7.28662793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.366296757 meters 0.07807253535118608 Centerline is valid? [True, True] Translation: X:61.86, Y:-6.82, Z:-7.29 [[ 9.49810728e-01 3.03317020e-01 7.65399715e-02 6.18639081e+01] [-3.02655090e-01 9.52882115e-01 -2.03855849e-02 -6.82304044e+00] [-7.91168647e-02 -3.80276469e-03 9.96858095e-01 -7.29093884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.396296757 meters 0.07729572138416353 Centerline is valid? [True, True] Translation: X:61.89, Y:-6.84, Z:-7.29 [[ 9.50263582e-01 3.02145570e-01 7.55458758e-02 6.18930602e+01] [-3.01496553e-01 9.53254807e-01 -2.01271407e-02 -6.83739555e+00] [-7.80957957e-02 -3.65073233e-03 9.96939175e-01 -7.29245783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.426296757 meters 0.0773268170957732 Centerline is valid? [True, True] Translation: X:61.92, Y:-6.85, Z:-7.30 [[ 9.50231479e-01 3.02000185e-01 7.65246594e-02 6.19239339e+01] [-3.01332141e-01 9.53300815e-01 -2.04082841e-02 -6.84583212e+00] [-7.91143257e-02 -3.66674540e-03 9.96858806e-01 -7.29778476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.456296757000004 meters 0.07745201513681568 Centerline is valid? [True, True] Translation: X:61.95, Y:-6.85, Z:-7.31 [[ 9.50243352e-01 3.02392801e-01 7.48075246e-02 6.19543584e+01] [-3.01754125e-01 9.53176612e-01 -1.99698464e-02 -6.85148873e+00] [-7.73435206e-02 -3.59726531e-03 9.96998014e-01 -7.30533809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.486296757000005 meters 0.07778505173316354 Centerline is valid? [True, True] Translation: X:61.99, Y:-6.86, Z:-7.31 [[ 9.50218727e-01 3.02634162e-01 7.41413241e-02 6.19851203e+01] [-3.02006236e-01 9.53100117e-01 -1.98091086e-02 -6.85854572e+00] [-7.66590177e-02 -3.56815631e-03 9.97050983e-01 -7.31137769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.516296757 meters 0.0776881015971862 Centerline is valid? [True, True] Translation: X:62.02, Y:-6.87, Z:-7.32 [[ 9.50170422e-01 3.02758012e-01 7.42546677e-02 6.20157301e+01] [-3.02127042e-01 9.53060794e-01 -1.98588504e-02 -6.86832630e+00] [-7.67816386e-02 -3.56505085e-03 9.97041559e-01 -7.31532420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.546296757 meters 0.07801178206036377 Centerline is valid? [True, True] Translation: X:62.04, Y:-6.88, Z:-7.32 [[ 9.50659510e-01 3.00929855e-01 7.54169623e-02 6.20434429e+01] [-3.00271000e-01 9.53640059e-01 -2.01981439e-02 -6.88114246e+00] [-7.79988608e-02 -3.44396905e-03 9.96947500e-01 -7.31784079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.576296757 meters 0.07714934697154419 Centerline is valid? [True, True] Translation: X:62.07, Y:-6.89, Z:-7.32 [[ 9.50959938e-01 2.99285932e-01 7.81225131e-02 6.20729136e+01] [-2.98573197e-01 9.54157319e-01 -2.09250103e-02 -6.89400161e+00] [-8.08037289e-02 -3.42644202e-03 9.96724143e-01 -7.31820015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.606296757 meters 0.07633664698569673 Centerline is valid? [True, True] Translation: X:62.10, Y:-6.90, Z:-7.32 [[ 9.51339796e-01 2.97287578e-01 8.10721175e-02 6.21017034e+01] [-2.96512540e-01 9.54782007e-01 -2.17170924e-02 -6.90312454e+00] [-8.38624208e-02 -3.37856519e-03 9.96471615e-01 -7.32063589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.636296757000004 meters 0.07661291417928116 Centerline is valid? [True, True] Translation: X:62.13, Y:-6.91, Z:-7.33 [[ 9.50753723e-01 2.98824229e-01 8.22887559e-02 6.21334559e+01] [-2.98030947e-01 9.54301523e-01 -2.20489953e-02 -6.90603841e+00] [-8.51170591e-02 -3.56143151e-03 9.96364593e-01 -7.32608357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.666296757000005 meters 0.07709359692978003 Centerline is valid? [True, True] Translation: X:62.16, Y:-6.91, Z:-7.33 [[ 9.50423755e-01 2.99739281e-01 8.27710657e-02 6.21647656e+01] [-2.98937912e-01 9.54014209e-01 -2.22038988e-02 -6.91178678e+00] [-8.56201534e-02 -3.64029669e-03 9.96321202e-01 -7.33070526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.696296757 meters 0.07613061289883087 Centerline is valid? [True, True] Translation: X:62.19, Y:-6.93, Z:-7.33 [[ 9.50264665e-01 3.00349666e-01 8.23841279e-02 6.21944305e+01] [-2.99557871e-01 9.53822084e-01 -2.21023679e-02 -6.92508665e+00] [-8.52182393e-02 -3.67571474e-03 9.96355529e-01 -7.33079923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.726296757 meters 0.07795155501972051 Centerline is valid? [True, True] Translation: X:62.22, Y:-6.93, Z:-7.34 [[ 9.49989410e-01 3.01573179e-01 8.10785915e-02 6.22241177e+01] [-3.00808928e-01 9.53435837e-01 -2.17736813e-02 -6.93257309e+00] [-8.38695931e-02 -3.70439757e-03 9.96469853e-01 -7.33586432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.756296757 meters 0.0776589441116514 Centerline is valid? [True, True] Translation: X:62.25, Y:-6.94, Z:-7.34 [[ 9.49330500e-01 3.03965406e-01 7.98538298e-02 6.22547260e+01] [-3.03230467e-01 9.52675361e-01 -2.14695057e-02 -6.94042066e+00] [-8.26007631e-02 -3.83245756e-03 9.96575349e-01 -7.33954487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.786296757 meters 0.07928506081315498 Centerline is valid? [True, True] Translation: X:62.29, Y:-6.94, Z:-7.35 [[ 9.48854505e-01 3.05501864e-01 7.96475959e-02 6.22853108e+01] [-3.04775901e-01 9.52183271e-01 -2.14165667e-02 -6.94183046e+00] [-8.23819094e-02 -3.95346200e-03 9.96592992e-01 -7.34754454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.816296757 meters 0.07812223113025121 Centerline is valid? [True, True] Translation: X:62.31, Y:-6.95, Z:-7.35 [[ 9.48235637e-01 3.07850934e-01 7.79549831e-02 6.23148142e+01] [-3.07162872e-01 9.51425931e-01 -2.09682549e-02 -6.95267421e+00] [-8.06234892e-02 -4.06202994e-03 9.96736351e-01 -7.34844931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.846296757000005 meters 0.07892116089626537 Centerline is valid? [True, True] Translation: X:62.35, Y:-6.96, Z:-7.35 [[ 9.47352178e-01 3.10851826e-01 7.67788580e-02 6.23454122e+01] [-3.10192806e-01 9.50448949e-01 -2.06692503e-02 -6.95991766e+00] [-7.93994591e-02 -4.23519005e-03 9.96833882e-01 -7.35253495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.876296757 meters 0.07936990994933651 Centerline is valid? [True, True] Translation: X:62.37, Y:-6.97, Z:-7.36 [[ 9.47087128e-01 3.11693563e-01 7.66361225e-02 6.23749629e+01] [-3.11038389e-01 9.50173032e-01 -2.06477384e-02 -6.96756043e+00] [-7.92533440e-02 -4.28156882e-03 9.96845312e-01 -7.35683802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.906296757 meters 0.07958237922708959 Centerline is valid? [True, True] Translation: X:62.41, Y:-6.98, Z:-7.36 [[ 9.47150218e-01 3.11653015e-01 7.60188377e-02 6.24062142e+01] [-3.11006970e-01 9.50186571e-01 -2.04974201e-02 -6.97685769e+00] [-7.86201615e-02 -4.22825248e-03 9.96895678e-01 -7.36059618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.936296757 meters 0.07791888624452327 Centerline is valid? [True, True] Translation: X:62.44, Y:-6.99, Z:-7.36 [[ 9.47266397e-01 3.11308084e-01 7.59845308e-02 6.24352413e+01] [-3.10659701e-01 9.50299868e-01 -2.05112225e-02 -6.99155435e+00] [-7.85933990e-02 -4.17573976e-03 9.96898009e-01 -7.36112874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.966296757 meters 0.07842238726449141 Centerline is valid? [True, True] Translation: X:62.46, Y:-7.00, Z:-7.37 [[ 9.48069675e-01 3.08956282e-01 7.55639245e-02 6.24634938e+01] [-3.08305624e-01 9.51068104e-01 -2.04231398e-02 -7.00083376e+00] [-7.81762957e-02 -3.93422335e-03 9.96931787e-01 -7.36712158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.996296757 meters 0.07793653567016962 Centerline is valid? [True, True] Translation: X:62.49, Y:-7.01, Z:-7.37 [[ 9.48439223e-01 3.07463812e-01 7.70002908e-02 6.24930754e+01] [-3.06782370e-01 9.51551891e-01 -2.08225010e-02 -7.01110788e+00] [-7.96719379e-02 -3.87345511e-03 9.96813613e-01 -7.37012598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.026296757000004 meters 0.07722903847544259 Centerline is valid? [True, True] Translation: X:62.52, Y:-7.02, Z:-7.37 [[ 9.49215533e-01 3.04521497e-01 7.90982245e-02 6.25228231e+01] [-3.03792010e-01 9.52498185e-01 -2.13921248e-02 -7.02187479e+00] [-8.18552771e-02 -3.72367148e-03 9.96637270e-01 -7.37256817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.056296757000005 meters 0.07693489961205485 Centerline is valid? [True, True] Translation: X:62.55, Y:-7.03, Z:-7.38 [[ 9.49491736e-01 3.03392046e-01 8.01168560e-02 6.25530356e+01] [-3.02637639e-01 9.52858825e-01 -2.16914529e-02 -7.03182947e+00] [-8.29210675e-02 -3.65052087e-03 9.96549432e-01 -7.37527571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.086296757 meters 0.07692507020890281 Centerline is valid? [True, True] Translation: X:62.58, Y:-7.04, Z:-7.38 [[ 9.49770975e-01 3.02196395e-01 8.13168763e-02 6.25819778e+01] [-3.01414640e-01 9.53238898e-01 -2.20185777e-02 -7.04048068e+00] [-8.41683444e-02 -3.59749101e-03 9.96445055e-01 -7.37917507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.116296757 meters 0.07610250174072593 Centerline is valid? [True, True] Translation: X:62.61, Y:-7.05, Z:-7.38 [[ 9.50698822e-01 2.98762343e-01 8.31433241e-02 6.26111698e+01] [-2.97931011e-01 9.54321638e-01 -2.25238390e-02 -7.05285262e+00] [-8.60747481e-02 -3.35758740e-03 9.96283024e-01 -7.38198201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.146296757 meters 0.07537505425290705 Centerline is valid? [True, True] Translation: X:62.64, Y:-7.07, Z:-7.38 [[ 9.51446334e-01 2.95768398e-01 8.52697336e-02 6.26404969e+01] [-2.94880382e-01 9.55254488e-01 -2.31175966e-02 -7.06529157e+00] [-8.82917503e-02 -3.14921903e-03 9.96089679e-01 -7.38340719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.176296757 meters 0.07541210082659895 Centerline is valid? [True, True] Translation: X:62.67, Y:-7.07, Z:-7.39 [[ 9.51796813e-01 2.94233463e-01 8.66573461e-02 6.26698540e+01] [-2.93309845e-01 9.55728693e-01 -2.34946841e-02 -7.07269343e+00] [-8.97338344e-02 -3.05528733e-03 9.95961096e-01 -7.38765536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.206296757000004 meters 0.07483425448496474 Centerline is valid? [True, True] Translation: X:62.70, Y:-7.08, Z:-7.39 [[ 9.51844737e-01 2.94083955e-01 8.66384703e-02 6.27008045e+01] [-2.93158474e-01 9.55774811e-01 -2.35078721e-02 -7.08253661e+00] [-8.97201555e-02 -3.02295737e-03 9.95962427e-01 -7.39069349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.236296757000005 meters 0.07453990959787031 Centerline is valid? [True, True] Translation: X:62.73, Y:-7.09, Z:-7.39 [[ 9.52188106e-01 2.93206985e-01 8.58339967e-02 6.27317806e+01] [-2.92294046e-01 9.56044583e-01 -2.33012018e-02 -7.09077520e+00] [-8.88932027e-02 -2.90163898e-03 9.96036937e-01 -7.39464821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.266296757 meters 0.07514839358994395 Centerline is valid? [True, True] Translation: X:62.76, Y:-7.10, Z:-7.40 [[ 9.52363982e-01 2.93470617e-01 8.29327655e-02 6.27612601e+01] [-2.92617259e-01 9.55963986e-01 -2.25387739e-02 -7.09720091e+00] [-8.58952050e-02 -2.80244213e-03 9.96300236e-01 -7.40113685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.296296757 meters 0.07499644017140011 Centerline is valid? [True, True] Translation: X:62.79, Y:-7.11, Z:-7.40 [[ 9.52160981e-01 2.94586217e-01 8.12922304e-02 6.27913779e+01] [-2.93769363e-01 9.55620705e-01 -2.21049868e-02 -7.10847785e+00] [-8.41963629e-02 -2.83366082e-03 9.96445153e-01 -7.40241123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.326296757 meters 0.075390931162393 Centerline is valid? [True, True] Translation: X:62.82, Y:-7.11, Z:-7.41 [[ 9.51654924e-01 2.95913879e-01 8.23885954e-02 6.28236314e+01] [-2.95079742e-01 9.55209941e-01 -2.24034560e-02 -7.11184068e+00] [-8.53278989e-02 -2.99084625e-03 9.96348435e-01 -7.40686400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.356296757 meters 0.07570332265158908 Centerline is valid? [True, True] Translation: X:62.86, Y:-7.12, Z:-7.41 [[ 9.51124282e-01 2.97604860e-01 8.24254068e-02 6.28550329e+01] [-2.96774250e-01 9.54684035e-01 -2.24374212e-02 -7.11660343e+00] [-8.53677056e-02 -3.12096212e-03 9.96344626e-01 -7.41146958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.386296757000004 meters 0.07566403707603979 Centerline is valid? [True, True] Translation: X:62.89, Y:-7.12, Z:-7.41 [[ 9.50490836e-01 2.99405281e-01 8.32084660e-02 6.28859705e+01] [-2.98563819e-01 9.54120344e-01 -2.26719283e-02 -7.12368476e+00] [-8.61789852e-02 -3.29357727e-03 9.96274227e-01 -7.41496619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.416296757000005 meters 0.07605256824439091 Centerline is valid? [True, True] Translation: X:62.92, Y:-7.13, Z:-7.42 [[ 9.49504623e-01 3.02808522e-01 8.21460248e-02 6.29168419e+01] [-3.01998836e-01 9.53044876e-01 -2.24091133e-02 -7.13130194e+00] [-8.50745185e-02 -3.53044718e-03 9.96368337e-01 -7.41807383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.446296757 meters 0.07663960545443285 Centerline is valid? [True, True] Translation: X:62.95, Y:-7.14, Z:-7.42 [[ 9.48672375e-01 3.05040813e-01 8.34914876e-02 6.29466190e+01] [-3.04212691e-01 9.52331741e-01 -2.27792369e-02 -7.13723389e+00] [-8.64601906e-02 -3.78913733e-03 9.96248101e-01 -7.42215867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.476296757 meters 0.07694286294266954 Centerline is valid? [True, True] Translation: X:62.98, Y:-7.14, Z:-7.43 [[ 9.48459573e-01 3.06020457e-01 8.23159651e-02 6.29773238e+01] [-3.05218551e-01 9.52017288e-01 -2.24659804e-02 -7.14436974e+00] [-8.52412714e-02 -3.81628537e-03 9.96353031e-01 -7.42610855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.506296757 meters 0.07694703757306427 Centerline is valid? [True, True] Translation: X:63.01, Y:-7.15, Z:-7.43 [[ 9.48375561e-01 3.06638387e-01 8.09734278e-02 6.30083397e+01] [-3.05863025e-01 9.51818544e-01 -2.21194183e-02 -7.15199895e+00] [-8.38546729e-02 -3.78926179e-03 9.96470790e-01 -7.43074803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.536296757 meters 0.07752161051534291 Centerline is valid? [True, True] Translation: X:63.04, Y:-7.16, Z:-7.44 [[ 9.48824623e-01 3.05820387e-01 7.87764234e-02 6.30381131e+01] [-3.05082106e-01 9.52082433e-01 -2.15394874e-02 -7.15831403e+00] [-8.15888633e-02 -3.59608117e-03 9.96659584e-01 -7.43846222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.566296757 meters 0.07656708525041783 Centerline is valid? [True, True] Translation: X:63.07, Y:-7.17, Z:-7.44 [[ 9.49063036e-01 3.05468064e-01 7.72568101e-02 6.30675844e+01] [-3.04755508e-01 9.52195961e-01 -2.11407780e-02 -7.17087976e+00] [-8.00214551e-02 -3.48050743e-03 9.96787065e-01 -7.44003981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.596296757000005 meters 0.07560932072941151 Centerline is valid? [True, True] Translation: X:63.10, Y:-7.19, Z:-7.44 [[ 9.49782534e-01 3.02520758e-01 7.99645566e-02 6.30965136e+01] [-3.01744939e-01 9.53137002e-01 -2.19053939e-02 -7.18542480e+00] [-8.28440141e-02 -3.32353977e-03 9.96556985e-01 -7.43956258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.626296757000006 meters 0.07541784283734099 Centerline is valid? [True, True] Translation: X:63.13, Y:-7.19, Z:-7.44 [[ 9.50000420e-01 3.01249364e-01 8.21463502e-02 6.31252848e+01] [-3.00424028e-01 9.53539752e-01 -2.25243318e-02 -7.19457237e+00] [-8.51152510e-02 -3.28061276e-03 9.96365712e-01 -7.44254003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.656296757 meters 0.07541784283734099 Centerline is valid? [True, True] Translation: X:63.16, Y:-7.20, Z:-7.45 [[ 9.49917173e-01 3.01512048e-01 8.21452910e-02 6.31563202e+01] [-3.00687356e-01 9.53456656e-01 -2.25281969e-02 -7.20318556e+00] [-8.51144972e-02 -3.30012931e-03 9.96365712e-01 -7.44629629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.686296757 meters 0.0746230562421979 Centerline is valid? [True, True] Translation: X:63.19, Y:-7.21, Z:-7.45 [[ 9.50560910e-01 2.98687576e-01 8.49687432e-02 6.31853852e+01] [-2.97791303e-01 9.54345833e-01 -2.33317768e-02 -7.21410100e+00] [-8.80584779e-02 -3.12467775e-03 9.96110406e-01 -7.44836020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.716296757 meters 0.0740705362099367 Centerline is valid? [True, True] Translation: X:63.22, Y:-7.22, Z:-7.45 [[ 9.50694782e-01 2.97955057e-01 8.60361326e-02 6.32155068e+01] [-2.97031721e-01 9.54574928e-01 -2.36402941e-02 -7.22495709e+00] [-8.91716802e-02 -3.08075630e-03 9.96011506e-01 -7.45041591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.746296757 meters 0.07383123266455967 Centerline is valid? [True, True] Translation: X:63.25, Y:-7.23, Z:-7.45 [[ 9.50739877e-01 2.97701787e-01 8.64137222e-02 6.32466314e+01] [-2.96767216e-01 9.54654048e-01 -2.37669393e-02 -7.23340896e+00] [-8.95706700e-02 -3.04858277e-03 9.95975804e-01 -7.45396913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.776296757000004 meters 0.07382771230574846 Centerline is valid? [True, True] Translation: X:63.28, Y:-7.24, Z:-7.46 [[ 9.50661695e-01 2.98046663e-01 8.60844308e-02 6.32771347e+01] [-2.97118619e-01 9.54546436e-01 -2.36987083e-02 -7.24118603e+00] [-8.92349075e-02 -3.04783302e-03 9.96005945e-01 -7.45800207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.806296757000005 meters 0.07402605003980464 Centerline is valid? [True, True] Translation: X:63.31, Y:-7.25, Z:-7.46 [[ 9.50494700e-01 2.98845975e-01 8.51522649e-02 6.33073112e+01] [-2.97939148e-01 9.54296430e-01 -2.34646186e-02 -7.24823945e+00] [-8.82728092e-02 -3.06719761e-03 9.96091614e-01 -7.46244379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.836296757 meters 0.07449214307726845 Centerline is valid? [True, True] Translation: X:63.34, Y:-7.26, Z:-7.47 [[ 9.50521453e-01 2.99238803e-01 8.34572104e-02 6.33368826e+01] [-2.98367553e-01 9.54173466e-01 -2.30173747e-02 -7.25631843e+00] [-8.65203474e-02 -3.02241522e-03 9.96245499e-01 -7.46787997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.866296757 meters 0.07395285347317299 Centerline is valid? [True, True] Translation: X:63.37, Y:-7.27, Z:-7.47 [[ 9.50469983e-01 2.99116633e-01 8.44751510e-02 6.33663536e+01] [-2.98221743e-01 9.54211750e-01 -2.33179924e-02 -7.27038569e+00] [-8.75819810e-02 -3.02927493e-03 9.96152709e-01 -7.46769894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.896296757 meters 0.07422397491871315 Centerline is valid? [True, True] Translation: X:63.40, Y:-7.28, Z:-7.47 [[ 9.50471138e-01 2.99292625e-01 8.38363919e-02 6.33960618e+01] [-2.98409945e-01 9.54156654e-01 -2.31642841e-02 -7.27769068e+00] [-8.69259506e-02 -3.00062962e-03 9.96210257e-01 -7.47250460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.926296757 meters 0.07359863425403625 Centerline is valid? [True, True] Translation: X:63.43, Y:-7.29, Z:-7.48 [[ 9.50697572e-01 2.97954024e-01 8.60088767e-02 6.34257992e+01] [-2.97017428e-01 9.54575720e-01 -2.37874230e-02 -7.28625583e+00] [-8.91895438e-02 -2.93149010e-03 9.96010357e-01 -7.47518994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.956296757000004 meters 0.07374383110720409 Centerline is valid? [True, True] Translation: X:63.46, Y:-7.29, Z:-7.48 [[ 9.50729351e-01 2.97802982e-01 8.61805355e-02 6.34567855e+01] [-2.96860643e-01 9.54622923e-01 -2.38502411e-02 -7.29296779e+00] [-8.93725876e-02 -2.90848497e-03 9.95994017e-01 -7.47988322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.986296757000005 meters 0.0738737772777616 Centerline is valid? [True, True] Translation: X:63.49, Y:-7.30, Z:-7.48 [[ 9.50901162e-01 2.97528276e-01 8.52285483e-02 6.34878430e+01] [-2.96603721e-01 9.54708810e-01 -2.36076280e-02 -7.30217899e+00] [-8.83923829e-02 -2.83058360e-03 9.96081711e-01 -7.48435565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.016296757 meters 0.07383901370516313 Centerline is valid? [True, True] Translation: X:63.52, Y:-7.31, Z:-7.49 [[ 9.51125136e-01 2.97061581e-01 8.43527908e-02 6.35181367e+01] [-2.96151961e-01 9.54854407e-01 -2.33896870e-02 -7.31321874e+00] [-8.74928114e-02 -2.73472525e-03 9.96161397e-01 -7.48878447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04629675700001 meters 0.0736700665701231 Centerline is valid? [True, True] Translation: X:63.55, Y:-7.32, Z:-7.49 [[ 9.51457092e-01 2.96096222e-01 8.40025606e-02 6.35478469e+01] [-2.95188144e-01 9.55154550e-01 -2.33183481e-02 -7.32352798e+00] [-8.71399028e-02 -2.61015230e-03 9.96192664e-01 -7.49269513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07629675700001 meters 0.07379360624621158 Centerline is valid? [True, True] Translation: X:63.58, Y:-7.33, Z:-7.50 [[ 9.51347532e-01 2.96541201e-01 8.36731141e-02 6.35787841e+01] [-2.95640095e-01 9.55016467e-01 -2.32482736e-02 -7.33154469e+00] [-8.68032727e-02 -2.61993969e-03 9.96222027e-01 -7.49701995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.106296757 meters 0.0737701209431455 Centerline is valid? [True, True] Translation: X:63.61, Y:-7.34, Z:-7.50 [[ 9.51472406e-01 2.96158935e-01 8.36070873e-02 6.36092475e+01] [-2.95255936e-01 9.55135235e-01 -2.32511209e-02 -7.33941088e+00] [-8.67421022e-02 -2.56268879e-03 9.96227504e-01 -7.50194620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.136296757 meters 0.07401911512858539 Centerline is valid? [True, True] Translation: X:63.64, Y:-7.35, Z:-7.51 [[ 9.51462234e-01 2.96675273e-01 8.18742961e-02 6.36380163e+01] [-2.95809520e-01 9.54975054e-01 -2.27897913e-02 -7.34845043e+00] [-8.49490778e-02 -2.53557052e-03 9.96382068e-01 -7.50779121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.166296757 meters 0.07424574497040269 Centerline is valid? [True, True] Translation: X:63.67, Y:-7.36, Z:-7.51 [[ 9.51214361e-01 2.97326690e-01 8.23897962e-02 6.36688490e+01] [-2.96450902e-01 9.54772284e-01 -2.29509883e-02 -7.35845389e+00] [-8.54874353e-02 -2.59321971e-03 9.96335874e-01 -7.51084053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.196296757 meters 0.07470589040665891 Centerline is valid? [True, True] Translation: X:63.70, Y:-7.37, Z:-7.52 [[ 9.51177648e-01 2.97945458e-01 8.05579717e-02 6.36983311e+01] [-2.97108404e-01 9.54579446e-01 -2.24650233e-02 -7.36729128e+00] [-8.35923357e-02 -2.56622244e-03 9.96496732e-01 -7.51671750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.226296757 meters 0.0739365089146323 Centerline is valid? [True, True] Translation: X:63.73, Y:-7.38, Z:-7.52 [[ 9.50822466e-01 2.98574169e-01 8.24020899e-02 6.37288104e+01] [-2.97698618e-01 9.54382730e-01 -2.30030036e-02 -7.38024253e+00] [-8.55112342e-02 -2.65921568e-03 9.96333658e-01 -7.51678427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.256296757 meters 0.073794633496102 Centerline is valid? [True, True] Translation: X:63.76, Y:-7.39, Z:-7.52 [[ 9.50437699e-01 2.98830355e-01 8.58405434e-02 6.37572131e+01] [-2.97880419e-01 9.54302180e-01 -2.39709397e-02 -7.38902446e+00] [-8.90810621e-02 -2.78733224e-03 9.96020479e-01 -7.52046401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.286296757 meters 0.07399558142950577 Centerline is valid? [True, True] Translation: X:63.79, Y:-7.40, Z:-7.52 [[ 9.50054188e-01 2.99714238e-01 8.69966384e-02 6.37880716e+01] [-2.98741621e-01 9.54024605e-01 -2.43001275e-02 -7.39815806e+00] [-9.02800278e-02 -2.90307884e-03 9.95912189e-01 -7.52376406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.316296757 meters 0.07430987302202989 Centerline is valid? [True, True] Translation: X:63.82, Y:-7.41, Z:-7.53 [[ 9.49495197e-01 3.01399500e-01 8.72766392e-02 6.38187446e+01] [-3.00425616e-01 9.53493068e-01 -2.44012000e-02 -7.40751293e+00] [-9.05721800e-02 -3.05131586e-03 9.95885219e-01 -7.52723793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.346296757 meters 0.07414567021139766 Centerline is valid? [True, True] Translation: X:63.85, Y:-7.42, Z:-7.53 [[ 9.49231630e-01 3.02067438e-01 8.78326511e-02 6.38498915e+01] [-3.01081920e-01 9.53281473e-01 -2.45786816e-02 -7.41658839e+00] [-9.11536583e-02 -3.11396124e-03 9.95831971e-01 -7.53165383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.376296757 meters 0.07469878885809761 Centerline is valid? [True, True] Translation: X:63.88, Y:-7.42, Z:-7.54 [[ 9.48525744e-01 3.03898944e-01 8.91310544e-02 6.38795550e+01] [-3.02889461e-01 9.52698516e-01 -2.49702131e-02 -7.42393466e+00] [-9.25034447e-02 -3.31196703e-03 9.95706856e-01 -7.53548763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.406296757 meters 0.07476844555036358 Centerline is valid? [True, True] Translation: X:63.91, Y:-7.43, Z:-7.54 [[ 9.48204228e-01 3.04752237e-01 8.96371318e-02 6.39111034e+01] [-3.03733121e-01 9.52425613e-01 -2.51325161e-02 -7.43214860e+00] [-9.30318907e-02 -3.39500780e-03 9.95657341e-01 -7.53947259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43629675700001 meters 0.07501251730835663 Centerline is valid? [True, True] Translation: X:63.94, Y:-7.44, Z:-7.54 [[ 9.47599977e-01 3.06374083e-01 9.04942236e-02 6.39402897e+01] [-3.05340034e-01 9.51904532e-01 -2.54012745e-02 -7.44140600e+00] [-9.39241538e-02 -3.56126215e-03 9.95572986e-01 -7.54183762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46629675700001 meters 0.07551394303920304 Centerline is valid? [True, True] Translation: X:63.97, Y:-7.45, Z:-7.55 [[ 9.47168681e-01 3.07698682e-01 9.05152476e-02 6.39714642e+01] [-3.06668333e-01 9.51476756e-01 -2.54266859e-02 -7.44941205e+00] [-9.39469119e-02 -3.67479956e-03 9.95570426e-01 -7.54550700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.496296757 meters 0.07538377905961166 Centerline is valid? [True, True] Translation: X:64.00, Y:-7.46, Z:-7.55 [[ 9.46750454e-01 3.09204105e-01 8.97574429e-02 6.40020335e+01] [-3.08196835e-01 9.50988176e-01 -2.52230271e-02 -7.45970336e+00] [-9.31573304e-02 -3.78304741e-03 9.95644214e-01 -7.54853669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.526296757 meters 0.07678305009884036 Centerline is valid? [True, True] Translation: X:64.03, Y:-7.46, Z:-7.56 [[ 9.46064181e-01 3.11312952e-01 8.97040207e-02 6.40327237e+01] [-3.10314158e-01 9.50299172e-01 -2.52310887e-02 -7.46349621e+00] [-9.31004213e-02 -3.96619836e-03 9.95648824e-01 -7.55601308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.556296757 meters 0.07559740156250092 Centerline is valid? [True, True] Translation: X:64.06, Y:-7.48, Z:-7.56 [[ 9.46025147e-01 3.11248377e-01 9.03375256e-02 6.40622743e+01] [-3.10233123e-01 9.50320316e-01 -2.54304069e-02 -7.47696411e+00] [-9.37647588e-02 -3.96788822e-03 9.95586473e-01 -7.55824596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.586296757 meters 0.07547463955272375 Centerline is valid? [True, True] Translation: X:64.09, Y:-7.49, Z:-7.56 [[ 9.46185082e-01 3.10686280e-01 9.05970487e-02 6.40914204e+01] [-3.09660323e-01 9.50504509e-01 -2.55276789e-02 -7.48707728e+00] [-9.40440029e-02 -3.90040234e-03 9.95560401e-01 -7.56241779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.616296757 meters 0.07478787821570476 Centerline is valid? [True, True] Translation: X:64.12, Y:-7.50, Z:-7.56 [[ 9.46280341e-01 3.10491516e-01 9.02692377e-02 6.41209739e+01] [-3.09470108e-01 9.50568368e-01 -2.54564527e-02 -7.50046198e+00] [-9.37110945e-02 -3.84668998e-03 9.95592002e-01 -7.56463518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.646296757 meters 0.074585733101998 Centerline is valid? [True, True] Translation: X:64.15, Y:-7.51, Z:-7.57 [[ 9.46421002e-01 3.09692470e-01 9.15306552e-02 6.41513313e+01] [-3.08636173e-01 9.50829195e-01 -2.58370849e-02 -7.51055176e+00] [-9.50315698e-02 -3.79691130e-03 9.95467018e-01 -7.56761892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.676296757 meters 0.07458487507361551 Centerline is valid? [True, True] Translation: X:64.18, Y:-7.52, Z:-7.57 [[ 9.46279603e-01 3.10056470e-01 9.17600034e-02 6.41829814e+01] [-3.08994305e-01 9.50710465e-01 -2.59254832e-02 -7.52009716e+00] [-9.52755594e-02 -3.82056256e-03 9.95443605e-01 -7.57193457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.706296757 meters 0.0745716302831317 Centerline is valid? [True, True] Translation: X:64.21, Y:-7.53, Z:-7.57 [[ 9.46173137e-01 3.10597215e-01 9.10261735e-02 6.42133905e+01] [-3.09551792e-01 9.50533957e-01 -2.57465467e-02 -7.53087058e+00] [-9.45202746e-02 -3.81662422e-03 9.95515621e-01 -7.57443452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.736296757 meters 0.07465257841139712 Centerline is valid? [True, True] Translation: X:64.24, Y:-7.54, Z:-7.58 [[ 9.46009583e-01 3.11096744e-01 9.10202404e-02 6.42441894e+01] [-3.10051507e-01 9.50370476e-01 -2.57686031e-02 -7.54012790e+00] [-9.45194778e-02 -3.84361716e-03 9.95515593e-01 -7.57820860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.766296757 meters 0.07480132329129631 Centerline is valid? [True, True] Translation: X:64.28, Y:-7.55, Z:-7.58 [[ 9.45656775e-01 3.12266715e-01 9.06794463e-02 6.42750750e+01] [-3.11232188e-01 9.49986382e-01 -2.56982135e-02 -7.54850433e+00] [-9.41689359e-02 -3.92067283e-03 9.95548512e-01 -7.58249292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79629675700001 meters 0.07505539795077541 Centerline is valid? [True, True] Translation: X:64.31, Y:-7.56, Z:-7.59 [[ 9.45675725e-01 3.11598383e-01 9.27570517e-02 6.43050093e+01] [-3.10510144e-01 9.50205815e-01 -2.63127135e-02 -7.55586478e+00] [-9.63372889e-02 -3.91871107e-03 9.95341032e-01 -7.58664513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82629675700001 meters 0.07426705503169749 Centerline is valid? [True, True] Translation: X:64.34, Y:-7.57, Z:-7.59 [[ 9.45588542e-01 3.11504012e-01 9.39550985e-02 6.43350805e+01] [-3.10384715e-01 9.50236677e-01 -2.66755866e-02 -7.56785644e+00] [-9.75891328e-02 -3.93809745e-03 9.95218997e-01 -7.58976948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.856296757 meters 0.07420034440624639 Centerline is valid? [True, True] Translation: X:64.37, Y:-7.58, Z:-7.59 [[ 9.45633370e-01 3.11518028e-01 9.34561269e-02 6.43659523e+01] [-3.10408353e-01 9.50232257e-01 -2.65577184e-02 -7.57734038e+00] [-9.70782345e-02 -3.89569769e-03 9.95269129e-01 -7.59324355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.886296757 meters 0.07367173794444049 Centerline is valid? [True, True] Translation: X:64.40, Y:-7.59, Z:-7.60 [[ 9.45569372e-01 3.11544222e-01 9.40146880e-02 6.43955096e+01] [-3.10418496e-01 9.50223676e-01 -2.67455354e-02 -7.58859082e+00] [-9.76673994e-02 -3.89413899e-03 9.95211492e-01 -7.59611647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.916296757 meters 0.07432841090933451 Centerline is valid? [True, True] Translation: X:64.43, Y:-7.59, Z:-7.60 [[ 9.45477293e-01 3.12324281e-01 9.23375961e-02 6.44261607e+01] [-3.11239536e-01 9.49967636e-01 -2.62952948e-02 -7.59455694e+00] [-9.59303869e-02 -3.87750637e-03 9.95380493e-01 -7.60106234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.946296757 meters 0.07499556799917118 Centerline is valid? [True, True] Translation: X:64.46, Y:-7.60, Z:-7.61 [[ 9.45119536e-01 3.13436535e-01 9.22312396e-02 6.44559411e+01] [-3.12358466e-01 9.49600831e-01 -2.62764109e-02 -7.60008123e+00] [-9.58188490e-02 -3.97485924e-03 9.95390852e-01 -7.60666015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.976296757 meters 0.0760230616834642 Centerline is valid? [True, True] Translation: X:64.49, Y:-7.61, Z:-7.61 [[ 9.45071905e-01 3.14106236e-01 9.04232605e-02 6.44859341e+01] [-3.13071484e-01 9.49379640e-01 -2.57787758e-02 -7.60590263e+00] [-9.39432768e-02 -3.94614760e-03 9.95569731e-01 -7.61170959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.006296757 meters 0.07483252701139903 Centerline is valid? [True, True] Translation: X:64.52, Y:-7.62, Z:-7.61 [[ 9.45244971e-01 3.13761083e-01 8.98105065e-02 6.45159786e+01] [-3.12736498e-01 9.49494112e-01 -2.56283991e-02 -7.61919426e+00] [-9.33157414e-02 -3.86190788e-03 9.95629077e-01 -7.61444079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.036296757 meters 0.0754420911337463 Centerline is valid? [True, True] Translation: X:64.55, Y:-7.63, Z:-7.62 [[ 9.44460824e-01 3.15930771e-01 9.04516436e-02 6.45472556e+01] [-3.14900586e-01 9.48773397e-01 -2.58198034e-02 -7.62678486e+00] [-9.39753836e-02 -4.09748283e-03 9.95566089e-01 -7.61859551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.066296757 meters 0.07625879220066614 Centerline is valid? [True, True] Translation: X:64.58, Y:-7.63, Z:-7.62 [[ 9.43226142e-01 3.19211944e-01 9.18051223e-02 6.45776472e+01] [-3.18165359e-01 9.47672746e-01 -2.62139581e-02 -7.63089058e+00] [-9.53690209e-02 -4.48351916e-03 9.95431890e-01 -7.62067755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.096296757 meters 0.07617718200881189 Centerline is valid? [True, True] Translation: X:64.61, Y:-7.64, Z:-7.62 [[ 9.42758944e-01 3.20394846e-01 9.24808911e-02 6.46087378e+01] [-3.19336730e-01 9.47272819e-01 -2.64246034e-02 -7.63781851e+00] [-9.60709411e-02 -4.62051410e-03 9.95363765e-01 -7.62458079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.126296757 meters 0.07724594914552722 Centerline is valid? [True, True] Translation: X:64.64, Y:-7.64, Z:-7.63 [[ 9.42178490e-01 3.22283102e-01 9.18329757e-02 6.46389853e+01] [-3.21247944e-01 9.46631309e-01 -2.62473499e-02 -7.64249999e+00] [-9.53910473e-02 -4.77146609e-03 9.95428441e-01 -7.62886555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.156296757 meters 0.07752144326130499 Centerline is valid? [True, True] Translation: X:64.67, Y:-7.65, Z:-7.63 [[ 9.42179585e-01 3.22635140e-01 9.05770158e-02 6.46694454e+01] [-3.21628880e-01 9.46511582e-01 -2.58976540e-02 -7.65164741e+00] [-9.40876878e-02 -4.73194329e-03 9.95552668e-01 -7.63315630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18629675700001 meters 0.07767379612312568 Centerline is valid? [True, True] Translation: X:64.70, Y:-7.66, Z:-7.64 [[ 9.42209859e-01 3.22755343e-01 8.98307843e-02 6.47003375e+01] [-3.21764113e-01 9.46470840e-01 -2.57061134e-02 -7.66114386e+00] [-9.33190033e-02 -4.68376917e-03 9.95625244e-01 -7.63775069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21629675700001 meters 0.07781322540017904 Centerline is valid? [True, True] Translation: X:64.73, Y:-7.67, Z:-7.64 [[ 9.42406357e-01 3.22067525e-01 9.02372839e-02 6.47297124e+01] [-3.21061562e-01 9.46705473e-01 -2.58499729e-02 -7.66982822e+00] [-9.37535674e-02 -4.61054452e-03 9.95584759e-01 -7.64106754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.246296757 meters 0.07558211627076095 Centerline is valid? [True, True] Translation: X:64.76, Y:-7.68, Z:-7.64 [[ 9.42356165e-01 3.22083727e-01 9.07024350e-02 6.47591935e+01] [-3.21065473e-01 9.46699932e-01 -2.60038810e-02 -7.68294350e+00] [-9.42434159e-02 -4.61650260e-03 9.95538481e-01 -7.64299536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.276296757 meters 0.07493715310513975 Centerline is valid? [True, True] Translation: X:64.79, Y:-7.69, Z:-7.65 [[ 9.42273623e-01 3.22398639e-01 9.04407878e-02 6.47901980e+01] [-3.21385508e-01 9.46592755e-01 -2.59521083e-02 -7.69358722e+00] [-9.39775189e-02 -4.61237140e-03 9.95563635e-01 -7.64670404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.306296757 meters 0.07600715375336482 Centerline is valid? [True, True] Translation: X:64.82, Y:-7.70, Z:-7.65 [[ 9.42079046e-01 3.23031567e-01 9.02090760e-02 6.48204599e+01] [-3.22023694e-01 9.46376840e-01 -2.59155677e-02 -7.69774605e+00] [-9.37433267e-02 -4.63494652e-03 9.95585610e-01 -7.65203478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.336296757 meters 0.07578923995524542 Centerline is valid? [True, True] Translation: X:64.85, Y:-7.71, Z:-7.65 [[ 9.42210506e-01 3.22356633e-01 9.12445227e-02 6.48507636e+01] [-3.21320073e-01 9.46607129e-01 -2.62365103e-02 -7.70717005e+00] [-9.48302288e-02 -4.59838110e-03 9.95482839e-01 -7.65383712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.366296757 meters 0.0750953444265819 Centerline is valid? [True, True] Translation: X:64.88, Y:-7.72, Z:-7.66 [[ 9.42316426e-01 3.22013339e-01 9.13628125e-02 6.48809117e+01] [-3.20970164e-01 9.46724214e-01 -2.62948017e-02 -7.71916736e+00] [-9.49626637e-02 -4.54671332e-03 9.95470452e-01 -7.65595840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.396296757 meters 0.07528776365883885 Centerline is valid? [True, True] Translation: X:64.91, Y:-7.73, Z:-7.66 [[ 9.42542058e-01 3.21378303e-01 9.12713291e-02 6.49111997e+01] [-3.20331894e-01 9.46940411e-01 -2.62932572e-02 -7.72604666e+00] [-9.48785923e-02 -4.45461691e-03 9.95478884e-01 -7.65989466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.426296757 meters 0.07512963867854607 Centerline is valid? [True, True] Translation: X:64.94, Y:-7.73, Z:-7.66 [[ 9.42651897e-01 3.20938395e-01 9.16839597e-02 6.49406028e+01] [-3.19877991e-01 9.47089822e-01 -2.64374740e-02 -7.73443351e+00] [-9.53177456e-02 -4.40634582e-03 9.95437146e-01 -7.66445643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.456296757 meters 0.07514854066565733 Centerline is valid? [True, True] Translation: X:64.97, Y:-7.74, Z:-7.67 [[ 9.42622346e-01 3.21045801e-01 9.16117146e-02 6.49722617e+01] [-3.19985476e-01 9.47053482e-01 -2.64385742e-02 -7.74254767e+00] [-9.52491864e-02 -4.39282732e-03 9.95443768e-01 -7.66852923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.486296757 meters 0.07537802172071618 Centerline is valid? [True, True] Translation: X:65.00, Y:-7.75, Z:-7.67 [[ 9.42407261e-01 3.21326055e-01 9.28338318e-02 6.50033508e+01] [-3.20235724e-01 9.46958150e-01 -2.68205635e-02 -7.74959380e+00] [-9.65278995e-02 -4.45281556e-03 9.95320319e-01 -7.67253110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.516296757 meters 0.07573983975383417 Centerline is valid? [True, True] Translation: X:65.03, Y:-7.76, Z:-7.68 [[ 9.42574071e-01 3.20903404e-01 9.26019753e-02 6.50334995e+01] [-3.19814112e-01 9.47101824e-01 -2.67781537e-02 -7.75632773e+00] [-9.62967004e-02 -4.37502517e-03 9.95343059e-01 -7.67735587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54629675700001 meters 0.07573983975383417 Centerline is valid? [True, True] Translation: X:65.06, Y:-7.77, Z:-7.68 [[ 9.42486957e-01 3.21160809e-01 9.25962748e-02 6.50644038e+01] [-3.20070822e-01 9.47014543e-01 -2.67978497e-02 -7.76538818e+00] [-9.62964379e-02 -4.38074202e-03 9.95343059e-01 -7.68111858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57629675700001 meters 0.0750992813372362 Centerline is valid? [True, True] Translation: X:65.09, Y:-7.78, Z:-7.68 [[ 9.42540646e-01 3.21275688e-01 9.16463994e-02 6.50939145e+01] [-3.20205903e-01 9.46975850e-01 -2.65503014e-02 -7.77703760e+00] [-9.53168934e-02 -4.32097987e-03 9.95437602e-01 -7.68438554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.606296757 meters 0.07578250410639686 Centerline is valid? [True, True] Translation: X:65.12, Y:-7.78, Z:-7.69 [[ 9.42805917e-01 3.20584782e-01 9.13367458e-02 6.51237828e+01] [-3.19516668e-01 9.47210454e-01 -2.64849843e-02 -7.78472251e+00] [-9.50058035e-02 -4.21341275e-03 9.95467802e-01 -7.68880833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.636296757 meters 0.0749318373522791 Centerline is valid? [True, True] Translation: X:65.15, Y:-7.80, Z:-7.69 [[ 9.42722489e-01 3.20673380e-01 9.18852105e-02 6.51535237e+01] [-3.19590690e-01 9.47180403e-01 -2.66659970e-02 -7.79697298e+00] [-9.55829461e-02 -4.22702278e-03 9.95412494e-01 -7.69171468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.666296757 meters 0.07565699759530202 Centerline is valid? [True, True] Translation: X:65.18, Y:-7.80, Z:-7.70 [[ 9.42346664e-01 3.21309730e-01 9.35030607e-02 6.51844378e+01] [-3.20189141e-01 9.46964197e-01 -2.71610495e-02 -7.80252029e+00] [-9.72711603e-02 -4.34354026e-03 9.95248439e-01 -7.69503384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.696296757 meters 0.07491139449962066 Centerline is valid? [True, True] Translation: X:65.22, Y:-7.81, Z:-7.70 [[ 9.41956637e-01 3.22160929e-01 9.44988357e-02 6.52152796e+01] [-3.21018369e-01 9.46674423e-01 -2.74725975e-02 -7.81452556e+00] [-9.83102283e-02 -4.45786658e-03 9.95145832e-01 -7.69767054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.726296757 meters 0.07636402204600529 Centerline is valid? [True, True] Translation: X:65.25, Y:-7.82, Z:-7.70 [[ 9.41305985e-01 3.24224299e-01 9.39236244e-02 6.52456027e+01] [-3.23102856e-01 9.45968974e-01 -2.73357803e-02 -7.81798790e+00] [-9.77117588e-02 -4.61565774e-03 9.95204053e-01 -7.70334757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.756296757 meters 0.07680398598041076 Centerline is valid? [True, True] Translation: X:65.28, Y:-7.82, Z:-7.71 [[ 9.40837160e-01 3.25638280e-01 9.37291271e-02 6.52763919e+01] [-3.24526726e-01 9.45482567e-01 -2.72968893e-02 -7.82408456e+00] [-9.75081678e-02 -4.73567893e-03 9.95223458e-01 -7.70750670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.786296757 meters 0.07705771143105736 Centerline is valid? [True, True] Translation: X:65.31, Y:-7.83, Z:-7.71 [[ 9.39713580e-01 3.29013335e-01 9.32127252e-02 6.53069394e+01] [-3.27929279e-01 9.44311797e-01 -2.71591356e-02 -7.83068028e+00] [-9.69575938e-02 -5.04537323e-03 9.95275725e-01 -7.71160469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.816296757 meters 0.07771688621809614 Centerline is valid? [True, True] Translation: X:65.34, Y:-7.84, Z:-7.72 [[ 9.39385975e-01 3.30103356e-01 9.26594016e-02 6.53372616e+01] [-3.29036839e-01 9.43930902e-01 -2.70039150e-02 -7.83679098e+00] [-9.63781555e-02 -5.12125762e-03 9.95331615e-01 -7.71643540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.846296757 meters 0.07748915720880392 Centerline is valid? [True, True] Translation: X:65.37, Y:-7.85, Z:-7.72 [[ 9.39375885e-01 3.30505007e-01 9.13202426e-02 6.53671212e+01] [-3.29468967e-01 9.43790638e-01 -2.66351530e-02 -7.84709154e+00] [-9.49902414e-02 -5.06676556e-03 9.95465309e-01 -7.72046378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.876296757 meters 0.07755404336990941 Centerline is valid? [True, True] Translation: X:65.40, Y:-7.86, Z:-7.72 [[ 9.39626104e-01 3.30303443e-01 8.94562462e-02 6.53968900e+01] [-3.29306230e-01 9.43861974e-01 -2.61147769e-02 -7.86022716e+00] [-9.30601498e-02 -4.92037304e-03 9.95648331e-01 -7.72395341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.906296757 meters 0.07774546390760306 Centerline is valid? [True, True] Translation: X:65.43, Y:-7.87, Z:-7.73 [[ 9.39696865e-01 3.30315161e-01 8.86662110e-02 6.54273579e+01] [-3.29333423e-01 9.43858207e-01 -2.59071738e-02 -7.86946674e+00] [-9.22458632e-02 -4.85585672e-03 9.95724420e-01 -7.72744416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93629675700001 meters 0.07617142039796568 Centerline is valid? [True, True] Translation: X:65.46, Y:-7.88, Z:-7.73 [[ 9.39656331e-01 3.30100499e-01 8.98868184e-02 6.54580273e+01] [-3.29087724e-01 9.43933212e-01 -2.62937370e-02 -7.88023959e+00] [-9.35267289e-02 -4.87357208e-03 9.95604841e-01 -7.73071858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96629675700001 meters 0.07790124527876988 Centerline is valid? [True, True] Translation: X:65.49, Y:-7.88, Z:-7.74 [[ 9.39433789e-01 3.30825592e-01 8.95465416e-02 6.54895222e+01] [-3.29823249e-01 9.43679079e-01 -2.61996158e-02 -7.88254076e+00] [-9.31707014e-02 -4.92172698e-03 9.95637985e-01 -7.73716974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.996296757 meters 0.07733844972916569 Centerline is valid? [True, True] Translation: X:65.52, Y:-7.89, Z:-7.74 [[ 9.39136291e-01 3.31381369e-01 9.06058219e-02 6.55204635e+01] [-3.30355633e-01 9.43483563e-01 -2.65315269e-02 -7.89213151e+00] [-9.42771574e-02 -5.01542387e-03 9.95533356e-01 -7.73943883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.026296757 meters 0.07738542286072077 Centerline is valid? [True, True] Translation: X:65.55, Y:-7.90, Z:-7.74 [[ 9.38923835e-01 3.31779600e-01 9.13472948e-02 6.55517349e+01] [-3.30736194e-01 9.43343302e-01 -2.67765710e-02 -7.90075940e+00] [-9.50557787e-02 -5.07069588e-03 9.95459033e-01 -7.74253741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.056296757 meters 0.07686786864261108 Centerline is valid? [True, True] Translation: X:65.58, Y:-7.91, Z:-7.74 [[ 9.38698499e-01 3.32170058e-01 9.22397946e-02 6.55824107e+01] [-3.31105207e-01 9.43205547e-01 -2.70672841e-02 -7.91167664e+00] [-9.59920273e-02 -5.13305732e-03 9.95368868e-01 -7.74468234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.086296757 meters 0.07790694872066556 Centerline is valid? [True, True] Translation: X:65.61, Y:-7.92, Z:-7.75 [[ 9.39164014e-01 3.30864875e-01 9.21921315e-02 6.56129235e+01] [-3.29792247e-01 9.43665047e-01 -2.70804791e-02 -7.91745936e+00] [-9.59584715e-02 -4.97123872e-03 9.95372924e-01 -7.74911992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.116296757 meters 0.07676133774920385 Centerline is valid? [True, True] Translation: X:65.64, Y:-7.93, Z:-7.75 [[ 9.39135035e-01 3.31052969e-01 9.18113131e-02 6.56434519e+01] [-3.29989015e-01 9.43599141e-01 -2.69798158e-02 -7.93073382e+00] [-9.55648243e-02 -4.95903446e-03 9.95410856e-01 -7.75141544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.146296757 meters 0.07656084051083216 Centerline is valid? [True, True] Translation: X:65.67, Y:-7.94, Z:-7.76 [[ 9.39469730e-01 3.30249867e-01 9.12778776e-02 6.56745530e+01] [-3.29191749e-01 9.43881231e-01 -2.68517180e-02 -7.93811311e+00] [-9.50232517e-02 -4.82154789e-03 9.95463377e-01 -7.75645055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.176296757 meters 0.07715879816168739 Centerline is valid? [True, True] Translation: X:65.71, Y:-7.94, Z:-7.76 [[ 9.38846311e-01 3.31984717e-01 9.13988570e-02 6.57054088e+01] [-3.30929581e-01 9.43271618e-01 -2.69122085e-02 -7.94126485e+00] [-9.51483897e-02 -4.98015779e-03 9.95450643e-01 -7.76196296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.206296757 meters 0.07718134609403327 Centerline is valid? [True, True] Translation: X:65.74, Y:-7.95, Z:-7.77 [[ 9.38430647e-01 3.32884422e-01 9.23898403e-02 6.57361665e+01] [-3.31808180e-01 9.42953826e-01 -2.72289054e-02 -7.94816348e+00] [-9.61834318e-02 -5.10326541e-03 9.95350543e-01 -7.76512069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.236296757 meters 0.07757185524074477 Centerline is valid? [True, True] Translation: X:65.77, Y:-7.96, Z:-7.77 [[ 9.38227140e-01 3.33506449e-01 9.22132405e-02 6.57659257e+01] [-3.32436204e-01 9.42733772e-01 -2.71883270e-02 -7.95524920e+00] [-9.60000185e-02 -5.14619331e-03 9.95368029e-01 -7.76984938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.266296757 meters 0.07643081689987526 Centerline is valid? [True, True] Translation: X:65.80, Y:-7.97, Z:-7.77 [[ 9.37935842e-01 3.34045673e-01 9.32193407e-02 6.57967161e+01] [-3.32952409e-01 9.42542336e-01 -2.75070665e-02 -7.96702722e+00] [-9.70517917e-02 -5.23774052e-03 9.95265550e-01 -7.77107260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29629675700001 meters 0.07592868145765952 Centerline is valid? [True, True] Translation: X:65.83, Y:-7.98, Z:-7.77 [[ 9.38269852e-01 3.33444779e-01 9.20014357e-02 6.58270899e+01] [-3.32374297e-01 9.42755945e-01 -2.71763733e-02 -7.97659990e+00] [-9.57967202e-02 -5.08014084e-03 9.95387955e-01 -7.77366810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32629675700001 meters 0.07577280108699516 Centerline is valid? [True, True] Translation: X:65.86, Y:-7.99, Z:-7.78 [[ 9.38596878e-01 3.32666868e-01 9.14803594e-02 6.58577276e+01] [-3.31602458e-01 9.43031423e-01 -2.70470941e-02 -7.98555234e+00] [-9.52665256e-02 -4.94879397e-03 9.95439500e-01 -7.77785366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.356296757 meters 0.07634339479251885 Centerline is valid? [True, True] Translation: X:65.89, Y:-7.99, Z:-7.78 [[ 9.39562267e-01 3.30985985e-01 8.75843869e-02 6.58869730e+01] [-3.30001091e-01 9.43624692e-01 -2.59175751e-02 -7.99294510e+00] [-9.12251443e-02 -4.55176767e-03 9.95819891e-01 -7.78446684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.386296757 meters 0.07544479674929738 Centerline is valid? [True, True] Translation: X:65.92, Y:-8.00, Z:-7.79 [[ 9.40016678e-01 3.30008099e-01 8.63903949e-02 6.59164414e+01] [-3.29043743e-01 9.43967967e-01 -2.55869677e-02 -8.00432391e+00] [-8.99936720e-02 -4.37404248e-03 9.95932732e-01 -7.78824328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.416296757 meters 0.07431299831994786 Centerline is valid? [True, True] Translation: X:65.95, Y:-8.02, Z:-7.79 [[ 9.40372535e-01 3.28935123e-01 8.66093535e-02 6.59467312e+01] [-3.27958870e-01 9.44342929e-01 -2.56790213e-02 -8.01684954e+00] [-9.02356626e-02 -4.25645930e-03 9.95911345e-01 -7.79073601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.446296757 meters 0.07465614221869069 Centerline is valid? [True, True] Translation: X:65.98, Y:-8.02, Z:-7.80 [[ 9.40684974e-01 3.27873235e-01 8.72405917e-02 6.59774729e+01] [-3.26877725e-01 9.44712476e-01 -2.58706636e-02 -8.02314369e+00] [-9.08995735e-02 -4.18086158e-03 9.95851288e-01 -7.79594665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.476296757 meters 0.07335982559208123 Centerline is valid? [True, True] Translation: X:66.01, Y:-8.03, Z:-7.80 [[ 9.40973159e-01 3.26656927e-01 8.86835182e-02 6.60072837e+01] [-3.25620075e-01 9.45134072e-01 -2.63277861e-02 -8.03476384e+00] [-9.24179684e-02 -4.10339385e-03 9.95711847e-01 -7.79653619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.506296757 meters 0.0729537771682634 Centerline is valid? [True, True] Translation: X:66.04, Y:-8.05, Z:-7.80 [[ 9.41189578e-01 3.26070997e-01 8.85431210e-02 6.60372528e+01] [-3.25034813e-01 9.45336655e-01 -2.62864747e-02 -8.04527230e+00] [-9.22743148e-02 -4.03904082e-03 9.95725433e-01 -7.80000699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.536296757 meters 0.07289788590733501 Centerline is valid? [True, True] Translation: X:66.07, Y:-8.06, Z:-7.80 [[ 9.41602205e-01 3.25059638e-01 8.78721736e-02 6.60679027e+01] [-3.24032215e-01 9.45685544e-01 -2.61146697e-02 -8.05578748e+00] [-9.15882694e-02 -3.88378444e-03 9.95789388e-01 -7.80354245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.566296757 meters 0.07254762729360072 Centerline is valid? [True, True] Translation: X:66.10, Y:-8.07, Z:-7.81 [[ 9.42660427e-01 3.22400769e-01 8.63079536e-02 6.60967348e+01] [-3.21398139e-01 9.46596587e-01 -2.56541889e-02 -8.06716543e+00] [-8.99697445e-02 -3.55602702e-03 9.95938151e-01 -7.80712611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.596296757 meters 0.07229534511533388 Centerline is valid? [True, True] Translation: X:66.13, Y:-8.08, Z:-7.81 [[ 9.42847712e-01 3.21972316e-01 8.58604649e-02 6.61272146e+01] [-3.20976447e-01 9.46742699e-01 -2.55417898e-02 -8.07645991e+00] [-8.95115174e-02 -3.47716894e-03 9.95979717e-01 -7.81094880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.626296757 meters 0.07149732484128299 Centerline is valid? [True, True] Translation: X:66.16, Y:-8.09, Z:-7.81 [[ 9.42801206e-01 3.21597936e-01 8.77533705e-02 6.61582193e+01] [-3.20553816e-01 9.46869869e-01 -2.61285871e-02 -8.08509276e+00] [-9.14939221e-02 -3.49561433e-03 9.95799499e-01 -7.81292512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.656296757 meters 0.07323373008503375 Centerline is valid? [True, True] Translation: X:66.19, Y:-8.09, Z:-7.82 [[ 9.42748653e-01 3.21349120e-01 8.92172685e-02 6.61891807e+01] [-3.20266342e-01 9.46954303e-01 -2.65897939e-02 -8.08656589e+00] [-9.30292832e-02 -3.50579586e-03 9.95657201e-01 -7.81976650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68629675700001 meters 0.07164901143750117 Centerline is valid? [True, True] Translation: X:66.22, Y:-8.10, Z:-7.82 [[ 9.42367850e-01 3.22439270e-01 8.93070649e-02 6.62192298e+01] [-3.21357116e-01 9.46583322e-01 -2.66386585e-02 -8.09988019e+00] [-9.31259278e-02 -3.59604550e-03 9.95647844e-01 -7.81955088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71629675700001 meters 0.07133522092772254 Centerline is valid? [True, True] Translation: X:66.25, Y:-8.11, Z:-7.82 [[ 9.41969648e-01 3.23736776e-01 8.88126210e-02 6.62499207e+01] [-3.22670145e-01 9.46140026e-01 -2.65146769e-02 -8.10920792e+00] [-9.26129516e-02 -3.68116046e-03 9.95695380e-01 -7.82246444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.746296757 meters 0.07221002474871895 Centerline is valid? [True, True] Translation: X:66.28, Y:-8.11, Z:-7.83 [[ 9.41435027e-01 3.25435208e-01 8.82723941e-02 6.62816717e+01] [-3.24386680e-01 9.45556702e-01 -2.63781089e-02 -8.10986368e+00] [-9.20509192e-02 -3.80111328e-03 9.95747046e-01 -7.82787794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.776296757 meters 0.07243337745487746 Centerline is valid? [True, True] Translation: X:66.31, Y:-8.12, Z:-7.83 [[ 9.41369719e-01 3.25514461e-01 8.86757487e-02 6.63123273e+01] [-3.24454552e-01 9.45529407e-01 -2.65214054e-02 -8.11524014e+00] [-9.24786290e-02 -3.80480235e-03 9.95707400e-01 -7.83215865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.806296757 meters 0.07163581315592775 Centerline is valid? [True, True] Translation: X:66.34, Y:-8.13, Z:-7.83 [[ 9.41307359e-01 3.25676672e-01 8.87421106e-02 6.63436663e+01] [-3.24613637e-01 9.45473564e-01 -2.65655001e-02 -8.12583443e+00] [-9.25550832e-02 -3.80059853e-03 9.95700312e-01 -7.83383705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.836296757 meters 0.07203802391225701 Centerline is valid? [True, True] Translation: X:66.37, Y:-8.13, Z:-7.84 [[ 9.41280519e-01 3.25988221e-01 8.78786896e-02 6.63733998e+01] [-3.24946048e-01 9.45366265e-01 -2.63190286e-02 -8.13245251e+00] [-9.16572418e-02 -3.78224402e-03 9.95783433e-01 -7.83780973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.866296757 meters 0.07260578920438392 Centerline is valid? [True, True] Translation: X:66.40, Y:-8.14, Z:-7.84 [[ 9.41403297e-01 3.25737461e-01 8.74925130e-02 6.64042047e+01] [-3.24702499e-01 9.45452895e-01 -2.62127852e-02 -8.13737006e+00] [-9.12585358e-02 -3.73223524e-03 9.95820240e-01 -7.84334466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.896296757 meters 0.07203136329554881 Centerline is valid? [True, True] Translation: X:66.43, Y:-8.15, Z:-7.85 [[ 9.41575774e-01 3.25093634e-01 8.80294934e-02 6.64341126e+01] [-3.24041115e-01 9.45674704e-01 -2.63952788e-02 -8.14708440e+00] [-9.18282022e-02 -3.67202011e-03 9.95768094e-01 -7.84754496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.926296757 meters 0.07154791814428321 Centerline is valid? [True, True] Translation: X:66.47, Y:-8.16, Z:-7.85 [[ 9.41753107e-01 3.24764255e-01 8.73456605e-02 6.64654525e+01] [-3.23724260e-01 9.45788197e-01 -2.62162018e-02 -8.15620109e+00] [-9.11245800e-02 -3.58671987e-03 9.95833041e-01 -7.85112122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.956296757 meters 0.07134752872832861 Centerline is valid? [True, True] Translation: X:66.50, Y:-8.16, Z:-7.86 [[ 9.42343699e-01 3.23164708e-01 8.69075664e-02 6.64950917e+01] [-3.22127535e-01 9.46336605e-01 -2.60937032e-02 -8.16452031e+00] [-9.06763753e-02 -3.40608336e-03 9.95874587e-01 -7.85657335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.986296757 meters 0.07057585870946156 Centerline is valid? [True, True] Translation: X:66.52, Y:-8.18, Z:-7.86 [[ 9.43289800e-01 3.20543647e-01 8.63488516e-02 6.65236663e+01] [-3.19506830e-01 9.47228633e-01 -2.59480735e-02 -8.17768730e+00] [-9.01095947e-02 -3.11249481e-03 9.95926992e-01 -7.86021958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.016296757 meters 0.07062876348750612 Centerline is valid? [True, True] Translation: X:66.55, Y:-8.19, Z:-7.86 [[ 9.43549581e-01 3.19860721e-01 8.60424775e-02 6.65526524e+01] [-3.18826701e-01 9.47459767e-01 -2.58751702e-02 -8.18700728e+00] [-8.97982363e-02 -3.01813331e-03 9.95955404e-01 -7.86451138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.04629675700001 meters 0.07052790626189177 Centerline is valid? [True, True] Translation: X:66.58, Y:-8.20, Z:-7.87 [[ 9.43649466e-01 3.19429261e-01 8.65484436e-02 6.65830544e+01] [-3.18379345e-01 9.47605454e-01 -2.60479697e-02 -8.19614457e+00] [-9.03342608e-02 -2.97508412e-03 9.95907059e-01 -7.86747057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07629675700001 meters 0.07034043209499422 Centerline is valid? [True, True] Translation: X:66.61, Y:-8.21, Z:-7.87 [[ 9.44020682e-01 3.18538209e-01 8.57808917e-02 6.66123144e+01] [-3.17501172e-01 9.47905760e-01 -2.58394330e-02 -8.20562259e+00] [-8.95430481e-02 -2.84257451e-03 9.95978897e-01 -7.87121907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.106296757 meters 0.07043127259772992 Centerline is valid? [True, True] Translation: X:66.64, Y:-8.21, Z:-7.88 [[ 9.44358967e-01 3.17942265e-01 8.42547173e-02 6.66430950e+01] [-3.16937786e-01 9.48106181e-01 -2.53990071e-02 -8.21472117e+00] [-8.79578361e-02 -2.71772348e-03 9.96120491e-01 -7.87614138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.136296757 meters 0.07038979630486153 Centerline is valid? [True, True] Translation: X:66.67, Y:-8.22, Z:-7.88 [[ 9.44929389e-01 3.16598019e-01 8.29104563e-02 6.66723327e+01] [-3.15618362e-01 9.48556425e-01 -2.50151645e-02 -8.22454406e+00] [-8.65649975e-02 -2.53049837e-03 9.96242991e-01 -7.87990951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.166296757 meters 0.0698543217443579 Centerline is valid? [True, True] Translation: X:66.70, Y:-8.24, Z:-7.88 [[ 9.45374811e-01 3.15489882e-01 8.20524268e-02 6.67018424e+01] [-3.14524641e-01 9.48925942e-01 -2.47751395e-02 -8.23621354e+00] [-8.56779822e-02 -2.38571728e-03 9.96320025e-01 -7.88300270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.196296757 meters 0.0695861581946594 Centerline is valid? [True, True] Translation: X:66.73, Y:-8.25, Z:-7.89 [[ 9.45763277e-01 3.13964911e-01 8.34137785e-02 6.67298831e+01] [-3.12959438e-01 9.49431888e-01 -2.52087314e-02 -8.24965172e+00] [-8.71103583e-02 -2.26363678e-03 9.96196096e-01 -7.88517125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.226296757 meters 0.06943863262760946 Centerline is valid? [True, True] Translation: X:66.76, Y:-8.26, Z:-7.89 [[ 9.46097947e-01 3.13225413e-01 8.23924418e-02 6.67605647e+01] [-3.12240317e-01 9.49676367e-01 -2.49155021e-02 -8.25975885e+00] [-8.60503232e-02 -2.15373678e-03 9.96288464e-01 -7.88920673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.256296757 meters 0.0695710677949573 Centerline is valid? [True, True] Translation: X:66.79, Y:-8.27, Z:-7.89 [[ 9.45903430e-01 3.13776908e-01 8.25272918e-02 6.67923208e+01] [-3.12788646e-01 9.49494222e-01 -2.49797110e-02 -8.26838669e+00] [-8.61972432e-02 -2.18520549e-03 9.96275695e-01 -7.89369554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.286296757 meters 0.06976245736034425 Centerline is valid? [True, True] Translation: X:66.82, Y:-8.27, Z:-7.90 [[ 9.45546382e-01 3.15013806e-01 8.19044672e-02 6.68227423e+01] [-3.14042940e-01 9.49084405e-01 -2.48157990e-02 -8.27472649e+00] [-8.55515718e-02 -2.25703074e-03 9.96331187e-01 -7.89881780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.316296757 meters 0.06973744690798482 Centerline is valid? [True, True] Translation: X:66.85, Y:-8.29, Z:-7.90 [[ 9.45455988e-01 3.15387752e-01 8.15079216e-02 6.68522615e+01] [-3.14426119e-01 9.48960193e-01 -2.47137240e-02 -8.28660099e+00] [-8.51421789e-02 -2.26248113e-03 9.96366243e-01 -7.90231994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.346296757 meters 0.06973636083305627 Centerline is valid? [True, True] Translation: X:66.88, Y:-8.30, Z:-7.91 [[ 9.45535439e-01 3.15213797e-01 8.12588223e-02 6.68821674e+01] [-3.14255756e-01 9.49018086e-01 -2.46575018e-02 -8.29720592e+00] [-8.48884767e-02 -2.22151088e-03 9.96387982e-01 -7.90564332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.376296757 meters 0.06984180079920449 Centerline is valid? [True, True] Translation: X:66.91, Y:-8.31, Z:-7.91 [[ 9.45722905e-01 3.15099155e-01 7.95028948e-02 6.69123567e+01] [-3.14179993e-01 9.49056336e-01 -2.41454560e-02 -8.30776319e+00] [-8.30609388e-02 -2.14330813e-03 9.96542165e-01 -7.90940023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.406296757 meters 0.06919629275070344 Centerline is valid? [True, True] Translation: X:66.94, Y:-8.32, Z:-7.91 [[ 9.45537071e-01 3.15902970e-01 7.85172698e-02 6.69421670e+01] [-3.15007764e-01 9.48789022e-01 -2.38641942e-02 -8.31915976e+00] [-8.20350935e-02 -2.16906932e-03 9.96627081e-01 -7.91053002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43629675700001 meters 0.069094898021548 Centerline is valid? [True, True] Translation: X:66.97, Y:-8.33, Z:-7.91 [[ 9.45160653e-01 3.17077101e-01 7.83163617e-02 6.69724553e+01] [-3.16188859e-01 9.48397104e-01 -2.38230732e-02 -8.32775638e+00] [-8.18287617e-02 -2.24612959e-03 9.96643873e-01 -7.91464323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46629675700001 meters 0.069094898021548 Centerline is valid? [True, True] Translation: X:67.00, Y:-8.34, Z:-7.92 [[ 9.45073689e-01 3.17337547e-01 7.83109443e-02 6.70032313e+01] [-3.16448724e-01 9.48309980e-01 -2.38408654e-02 -8.33721694e+00] [-8.18286518e-02 -2.25002374e-03 9.96643873e-01 -7.91840586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.496296757 meters 0.07077043968240707 Centerline is valid? [True, True] Translation: X:67.03, Y:-8.34, Z:-7.93 [[ 9.44510036e-01 3.18906843e-01 7.87351109e-02 6.70343404e+01] [-3.18011664e-01 9.47783091e-01 -2.39957118e-02 -8.33988050e+00] [-8.22762034e-02 -2.37449297e-03 9.96606737e-01 -7.92813996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.526296757 meters 0.0697110801344687 Centerline is valid? [True, True] Translation: X:67.06, Y:-8.36, Z:-7.93 [[ 9.44184557e-01 3.19505490e-01 8.01982816e-02 6.70639583e+01] [-3.18577203e-01 9.47581248e-01 -2.44610763e-02 -8.35511221e+00] [-8.38098359e-02 -2.45357367e-03 9.96478746e-01 -7.92538725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.556296757 meters 0.07000189537455216 Centerline is valid? [True, True] Translation: X:67.09, Y:-8.36, Z:-7.93 [[ 9.43473556e-01 3.21396789e-01 8.10046469e-02 6.70946259e+01] [-3.20454859e-01 9.46940969e-01 -2.47282179e-02 -8.36448224e+00] [-8.46541887e-02 -2.62791310e-03 9.96406926e-01 -7.92886317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.586296757 meters 0.07020126527566171 Centerline is valid? [True, True] Translation: X:67.13, Y:-8.37, Z:-7.93 [[ 9.42824852e-01 3.23043546e-01 8.20010060e-02 6.71255965e+01] [-3.22082630e-01 9.46379990e-01 -2.50538364e-02 -8.37204402e+00] [-8.56975914e-02 -2.78972015e-03 9.96317289e-01 -7.93375338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.616296757 meters 0.07107856022829612 Centerline is valid? [True, True] Translation: X:67.16, Y:-8.38, Z:-7.94 [[ 9.41843080e-01 3.25807908e-01 8.23457331e-02 6.71560979e+01] [-3.24847246e-01 9.45431132e-01 -2.51841615e-02 -8.37827325e+00] [-8.60574186e-02 -3.03025639e-03 9.96285571e-01 -7.94025413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.646296757 meters 0.07191042369298518 Centerline is valid? [True, True] Translation: X:67.19, Y:-8.39, Z:-7.94 [[ 9.41251753e-01 3.27765895e-01 8.13305303e-02 6.71855480e+01] [-3.26835368e-01 9.44753684e-01 -2.48820849e-02 -8.38548217e+00] [-8.49928170e-02 -3.16138779e-03 9.96376549e-01 -7.94486054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.676296757 meters 0.07264126490951602 Centerline is valid? [True, True] Translation: X:67.21, Y:-8.39, Z:-7.95 [[ 9.40446707e-01 3.29692091e-01 8.28439260e-02 6.72149049e+01] [-3.28732621e-01 9.44082455e-01 -2.53610347e-02 -8.39388874e+00] [-8.65728296e-02 -3.38279930e-03 9.96239781e-01 -7.95084982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.706296757 meters 0.07333050013075575 Centerline is valid? [True, True] Translation: X:67.24, Y:-8.40, Z:-7.95 [[ 9.39825002e-01 3.31373757e-01 8.31889318e-02 6.72441990e+01] [-3.30412050e-01 9.43492911e-01 -2.54755710e-02 -8.40275839e+00] [-8.69301031e-02 -3.54404688e-03 9.96208109e-01 -7.95471651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.736296757 meters 0.07152021723287096 Centerline is valid? [True, True] Translation: X:67.27, Y:-8.42, Z:-7.95 [[ 9.39645448e-01 3.31787992e-01 8.35653116e-02 6.72743161e+01] [-3.30817641e-01 9.43347178e-01 -2.56084181e-02 -8.41900959e+00] [-8.73276665e-02 -3.58204574e-03 9.96173202e-01 -7.95490302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.766296757 meters 0.0721698643097252 Centerline is valid? [True, True] Translation: X:67.30, Y:-8.43, Z:-7.96 [[ 9.39724051e-01 3.32011919e-01 8.17728234e-02 6.73043403e+01] [-3.31081405e-01 9.43268697e-01 -2.50852383e-02 -8.42693648e+00] [-8.54623427e-02 -3.50025950e-03 9.96335253e-01 -7.96064603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.79629675700001 meters 0.07196359638346407 Centerline is valid? [True, True] Translation: X:67.33, Y:-8.44, Z:-7.96 [[ 9.39856434e-01 3.31283674e-01 8.31926155e-02 6.73340431e+01] [-3.30315884e-01 9.43524803e-01 -2.55413882e-02 -8.43811085e+00] [-8.69557411e-02 -3.47460424e-03 9.96206116e-01 -7.96386925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82629675700001 meters 0.07229353473611605 Centerline is valid? [True, True] Translation: X:67.36, Y:-8.45, Z:-7.97 [[ 9.39884801e-01 3.31021849e-01 8.39112463e-02 6.73637613e+01] [-3.30033962e-01 9.43616760e-01 -2.57874812e-02 -8.44784014e+00] [-8.77162780e-02 -3.45629945e-03 9.96139503e-01 -7.96791722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.856296757 meters 0.0717385562863412 Centerline is valid? [True, True] Translation: X:67.39, Y:-8.46, Z:-7.97 [[ 9.40089189e-01 3.29760931e-01 8.65450442e-02 6.73925799e+01] [-3.28703202e-01 9.44058244e-01 -2.66127175e-02 -8.46165431e+00] [-9.04793970e-02 -3.42930519e-03 9.95892423e-01 -7.96930611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.886296757 meters 0.07128721874536038 Centerline is valid? [True, True] Translation: X:67.42, Y:-8.47, Z:-7.97 [[ 9.39980194e-01 3.30049355e-01 8.66294337e-02 6.74226281e+01] [-3.28990881e-01 9.43957330e-01 -2.66375593e-02 -8.47430267e+00] [-9.05661982e-02 -3.46151553e-03 9.95884422e-01 -7.97115480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.916296757 meters 0.07144151453900258 Centerline is valid? [True, True] Translation: X:67.45, Y:-8.48, Z:-7.98 [[ 9.39863497e-01 3.30325766e-01 8.68417807e-02 6.74537044e+01] [-3.29260825e-01 9.43860603e-01 -2.67296001e-02 -8.48320434e+00] [-9.07960111e-02 -3.47142095e-03 9.95863461e-01 -7.97630208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.946296757 meters 0.07132855457251121 Centerline is valid? [True, True] Translation: X:67.48, Y:-8.49, Z:-7.98 [[ 9.39827452e-01 3.30639796e-01 8.60330549e-02 6.74841369e+01] [-3.29593477e-01 9.43750746e-01 -2.65079101e-02 -8.49257071e+00] [-8.99583298e-02 -3.44307208e-03 9.95939579e-01 -7.98069510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.976296757 meters 0.07142172045862023 Centerline is valid? [True, True] Translation: X:67.51, Y:-8.50, Z:-7.98 [[ 9.39941444e-01 3.30328307e-01 8.59842473e-02 6.75134585e+01] [-3.29279715e-01 9.43860015e-01 -2.65168220e-02 -8.50236439e+00] [-8.99163498e-02 -3.38860847e-03 9.95943556e-01 -7.98412095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.006296757 meters 0.07140801035131605 Centerline is valid? [True, True] Translation: X:67.54, Y:-8.51, Z:-7.99 [[ 9.39964867e-01 3.30269721e-01 8.59532413e-02 6.75436774e+01] [-3.29219740e-01 9.43880612e-01 -2.65283463e-02 -8.51302755e+00] [-8.98911075e-02 -3.36179017e-03 9.95945926e-01 -7.98642706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.036296757 meters 0.07127865245833845 Centerline is valid? [True, True] Translation: X:67.57, Y:-8.52, Z:-7.99 [[ 9.40547449e-01 3.28607931e-01 8.59495415e-02 6.75744799e+01] [-3.27548690e-01 9.44461081e-01 -2.65541497e-02 -8.52411717e+00] [-8.99019010e-02 -3.17722192e-03 9.95945557e-01 -7.98845573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.066296757 meters 0.07071589864155786 Centerline is valid? [True, True] Translation: X:67.61, Y:-8.54, Z:-7.99 [[ 9.40749312e-01 3.28107706e-01 8.56508346e-02 6.76050965e+01] [-3.27053423e-01 9.44635184e-01 -2.64656018e-02 -8.53513170e+00] [-8.95923598e-02 -3.11490194e-03 9.95973647e-01 -7.99011499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.096296757 meters 0.07090537043378753 Centerline is valid? [True, True] Translation: X:67.63, Y:-8.54, Z:-8.00 [[ 9.41185869e-01 3.27038240e-01 8.49420364e-02 6.76347415e+01] [-3.25994939e-01 9.45006452e-01 -2.62698675e-02 -8.54230908e+00] [-8.88620236e-02 -2.96584594e-03 9.96039530e-01 -7.99532003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.126296757 meters 0.07106403097307437 Centerline is valid? [True, True] Translation: X:67.67, Y:-8.55, Z:-8.00 [[ 9.41324820e-01 3.26743837e-01 8.45343021e-02 6.76661773e+01] [-3.25707660e-01 9.45108471e-01 -2.61629207e-02 -8.55130969e+00] [-8.84426581e-02 -2.90566311e-03 9.96077032e-01 -8.00007709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.156296757 meters 0.0709451263236861 Centerline is valid? [True, True] Translation: X:67.70, Y:-8.56, Z:-8.00 [[ 9.41560230e-01 3.26261347e-01 8.37727130e-02 6.76974199e+01] [-3.25239715e-01 9.45275426e-01 -2.59518107e-02 -8.56144881e+00] [-8.76553597e-02 -2.81102045e-03 9.96146895e-01 -8.00446680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.18629675700001 meters 0.07094102698624455 Centerline is valid? [True, True] Translation: X:67.73, Y:-8.57, Z:-8.01 [[ 9.42177134e-01 3.25054335e-01 8.14980165e-02 6.77268085e+01] [-3.24080822e-01 9.45691766e-01 -2.52726063e-02 -8.57003099e+00] [-8.52869733e-02 -2.60067239e-03 9.96353034e-01 -8.01044275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21629675700001 meters 0.0708824326225387 Centerline is valid? [True, True] Translation: X:67.76, Y:-8.58, Z:-8.01 [[ 9.42307376e-01 3.24675757e-01 8.15013022e-02 6.77572764e+01] [-3.23699104e-01 9.45821949e-01 -2.52928983e-02 -8.57963728e+00] [-8.52977114e-02 -2.54821384e-03 9.96352250e-01 -8.01380713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.246296757 meters 0.07073989814891725 Centerline is valid? [True, True] Translation: X:67.79, Y:-8.59, Z:-8.02 [[ 9.42717667e-01 3.23355953e-01 8.20019974e-02 6.77883020e+01] [-3.22360018e-01 9.46274313e-01 -2.54743531e-02 -8.58912148e+00] [-8.58336675e-02 -2.41904268e-03 9.96306544e-01 -8.01748484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.276296757 meters 0.07074897096828352 Centerline is valid? [True, True] Translation: X:67.82, Y:-8.60, Z:-8.02 [[ 9.42734071e-01 3.23098363e-01 8.28246269e-02 6.78196348e+01] [-3.22080653e-01 9.46362313e-01 -2.57376133e-02 -8.59741032e+00] [-8.66978863e-02 -2.41248499e-03 9.96231728e-01 -8.02171954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.306296757 meters 0.0706140865759657 Centerline is valid? [True, True] Translation: X:67.85, Y:-8.60, Z:-8.03 [[ 9.42811459e-01 3.22717612e-01 8.34259857e-02 6.78500193e+01] [-3.21683233e-01 9.46492274e-01 -2.59282320e-02 -8.60400564e+00] [-8.73295480e-02 -2.39130660e-03 9.96176607e-01 -8.02580872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.336296757 meters 0.07046589150970242 Centerline is valid? [True, True] Translation: X:67.88, Y:-8.61, Z:-8.03 [[ 9.42703157e-01 3.22940478e-01 8.37866713e-02 6.78810901e+01] [-3.21896297e-01 9.46416224e-01 -2.60596647e-02 -8.61265335e+00] [-8.77127856e-02 -2.40409100e-03 9.96142905e-01 -8.02908497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.366296757 meters 0.06977493646266078 Centerline is valid? [True, True] Translation: X:67.91, Y:-8.63, Z:-8.03 [[ 9.42780348e-01 3.22551224e-01 8.44151807e-02 6.79107501e+01] [-3.21487871e-01 9.46549054e-01 -2.62761808e-02 -8.62530616e+00] [-8.83785237e-02 -2.36578982e-03 9.96084153e-01 -8.02898683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.396296757 meters 0.06945358997627266 Centerline is valid? [True, True] Translation: X:67.94, Y:-8.64, Z:-8.03 [[ 9.42946767e-01 3.21817421e-01 8.53518743e-02 6.79408111e+01] [-3.20725282e-01 9.46798950e-01 -2.65902589e-02 -8.63596985e+00] [-8.93682735e-02 -2.30130530e-03 9.95995992e-01 -8.03190249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.426296757 meters 0.0695253923517791 Centerline is valid? [True, True] Translation: X:67.97, Y:-8.64, Z:-8.04 [[ 9.42912097e-01 3.21691914e-01 8.62037707e-02 6.79706371e+01] [-3.20575161e-01 9.46841628e-01 -2.68793183e-02 -8.64328289e+00] [-9.02681780e-02 -2.28995331e-03 9.95914862e-01 -8.03693590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.456296757 meters 0.06943500167541491 Centerline is valid? [True, True] Translation: X:68.00, Y:-8.65, Z:-8.04 [[ 9.42787091e-01 3.21933442e-01 8.66680980e-02 6.80016597e+01] [-3.20803728e-01 9.46759495e-01 -2.70448876e-02 -8.65217411e+00] [-9.07604985e-02 -2.30587805e-03 9.95870079e-01 -8.04105043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.486296757 meters 0.06962860305252755 Centerline is valid? [True, True] Translation: X:68.03, Y:-8.66, Z:-8.05 [[ 9.42310667e-01 3.23120852e-01 8.74272396e-02 6.80325444e+01] [-3.21974236e-01 9.46354616e-01 -2.73044502e-02 -8.65792954e+00] [-9.15598089e-02 -2.42004404e-03 9.95796638e-01 -8.04552296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.516296757 meters 0.06940661574178775 Centerline is valid? [True, True] Translation: X:68.06, Y:-8.67, Z:-8.05 [[ 9.42148449e-01 3.23678159e-01 8.71134252e-02 6.80631520e+01] [-3.22539898e-01 9.46164091e-01 -2.72310136e-02 -8.66776588e+00] [-9.12376791e-02 -2.44189798e-03 9.95826151e-01 -8.04850795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.54629675700001 meters 0.06953671630968004 Centerline is valid? [True, True] Translation: X:68.09, Y:-8.68, Z:-8.05 [[ 9.42233409e-01 3.23661312e-01 8.62528670e-02 6.80924051e+01] [-3.22543298e-01 9.46169976e-01 -2.69851348e-02 -8.67684446e+00] [-9.03439173e-02 -2.39398858e-03 9.95907749e-01 -8.05214872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57629675700001 meters 0.06958793282995646 Centerline is valid? [True, True] Translation: X:68.12, Y:-8.69, Z:-8.05 [[ 9.41988886e-01 3.24297220e-01 8.65346874e-02 6.81238612e+01] [-3.23172740e-01 9.45952081e-01 -2.70931926e-02 -8.68722802e+00] [-9.06439146e-02 -2.44416569e-03 9.95880368e-01 -8.05492753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.606296757 meters 0.06982135972048116 Centerline is valid? [True, True] Translation: X:68.16, Y:-8.69, Z:-8.06 [[ 9.41494424e-01 3.25745085e-01 8.64776803e-02 6.81558176e+01] [-3.24625731e-01 9.45454179e-01 -2.71022111e-02 -8.69345058e+00] [-9.05890963e-02 -2.55629960e-03 9.95885074e-01 -8.05813641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.636296757 meters 0.07009693375789311 Centerline is valid? [True, True] Translation: X:68.19, Y:-8.70, Z:-8.06 [[ 9.41036696e-01 3.27216307e-01 8.59035812e-02 6.81874706e+01] [-3.26115905e-01 9.44945722e-01 -2.69443479e-02 -8.70000396e+00] [-8.99908516e-02 -2.65890405e-03 9.95939043e-01 -8.06172400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.666296757 meters 0.0699580490737932 Centerline is valid? [True, True] Translation: X:68.22, Y:-8.71, Z:-8.06 [[ 9.40553181e-01 3.28382732e-01 8.67438445e-02 6.82195613e+01] [-3.27263598e-01 9.44540666e-01 -2.72298955e-02 -8.70842784e+00] [-9.08749161e-02 -2.77693780e-03 9.95858443e-01 -8.06435927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.696296757 meters 0.0700181832609078 Centerline is valid? [True, True] Translation: X:68.25, Y:-8.71, Z:-8.07 [[ 9.40039893e-01 3.29781071e-01 8.70025609e-02 6.82510995e+01] [-3.28658681e-01 9.44053000e-01 -2.73387150e-02 -8.71419753e+00] [-9.11508194e-02 -2.89466414e-03 9.95832892e-01 -8.06831196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.726296757 meters 0.07051705217516233 Centerline is valid? [True, True] Translation: X:68.28, Y:-8.72, Z:-8.07 [[ 9.39556494e-01 3.31312309e-01 8.64045659e-02 6.82807622e+01] [-3.30209490e-01 9.43516382e-01 -2.71758894e-02 -8.72084833e+00] [-9.05278301e-02 -2.99832431e-03 9.95889413e-01 -8.07195173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.756296757 meters 0.07054246383375586 Centerline is valid? [True, True] Translation: X:68.31, Y:-8.73, Z:-8.07 [[ 9.39332302e-01 3.31966617e-01 8.63307063e-02 6.83110881e+01] [-3.30867466e-01 9.43286209e-01 -2.71633763e-02 -8.72964032e+00] [-9.04518988e-02 -3.04858519e-03 9.95896159e-01 -8.07481198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.786296757 meters 0.07056315323852293 Centerline is valid? [True, True] Translation: X:68.34, Y:-8.74, Z:-8.08 [[ 9.39188699e-01 3.32351728e-01 8.64113284e-02 6.83422034e+01] [-3.31250165e-01 9.43150527e-01 -2.72104989e-02 -8.73818500e+00] [-9.05423463e-02 -3.06797380e-03 9.95887881e-01 -8.07880545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.816296757 meters 0.07080702321246841 Centerline is valid? [True, True] Translation: X:68.37, Y:-8.75, Z:-8.08 [[ 9.39384218e-01 3.32215065e-01 8.47964740e-02 6.83732285e+01] [-3.31151514e-01 9.43198978e-01 -2.67275747e-02 -8.74572815e+00] [-8.88592506e-02 -2.97301886e-03 9.96039756e-01 -8.08413424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.846296757 meters 0.07105535747673711 Centerline is valid? [True, True] Translation: X:68.40, Y:-8.75, Z:-8.09 [[ 9.39615446e-01 3.31190616e-01 8.62298622e-02 6.84036943e+01] [-3.30084379e-01 9.43559402e-01 -2.72021544e-02 -8.75110906e+00] [-9.03720954e-02 -2.90356609e-03 9.95903838e-01 -8.08960729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.876296757 meters 0.07058768391398294 Centerline is valid? [True, True] Translation: X:68.43, Y:-8.76, Z:-8.09 [[ 9.39597696e-01 3.31368452e-01 8.57386670e-02 6.84349717e+01] [-3.30273668e-01 9.43497022e-01 -2.70679564e-02 -8.76115509e+00] [-8.98636437e-02 -2.88423457e-03 9.95949902e-01 -8.09258350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.906296757 meters 0.07064020176670387 Centerline is valid? [True, True] Translation: X:68.47, Y:-8.77, Z:-8.10 [[ 9.39614523e-01 3.31247711e-01 8.60203637e-02 6.84654152e+01] [-3.30142780e-01 9.43539502e-01 -2.71836793e-02 -8.77012440e+00] [-9.01681427e-02 -2.85682217e-03 9.95922459e-01 -8.09560440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93629675700001 meters 0.07051647048466278 Centerline is valid? [True, True] Translation: X:68.50, Y:-8.78, Z:-8.10 [[ 9.39617395e-01 3.31192690e-01 8.62006517e-02 6.84956740e+01] [-3.30080875e-01 9.43558878e-01 -2.72627946e-02 -8.77886476e+00] [-9.03646285e-02 -2.83659049e-03 9.95904708e-01 -8.09851754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96629675700001 meters 0.07087064714579167 Centerline is valid? [True, True] Translation: X:68.53, Y:-8.79, Z:-8.10 [[ 9.39638005e-01 3.31391981e-01 8.52043076e-02 6.85259889e+01] [-3.30304607e-01 9.43489007e-01 -2.69696312e-02 -8.78599283e+00] [-8.93268470e-02 -2.80168486e-03 9.95998426e-01 -8.10326843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.996296757 meters 0.07081920887292109 Centerline is valid? [True, True] Translation: X:68.56, Y:-8.79, Z:-8.11 [[ 9.38957869e-01 3.33324728e-01 8.51630549e-02 6.85571652e+01] [-3.32244582e-01 9.42807420e-01 -2.69760457e-02 -8.79344012e+00] [-8.92841431e-02 -2.96559312e-03 9.96001781e-01 -8.10545252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.026296757 meters 0.0710378580486519 Centerline is valid? [True, True] Translation: X:68.59, Y:-8.80, Z:-8.11 [[ 9.38469234e-01 3.34723439e-01 8.50630116e-02 6.85879476e+01] [-3.33649213e-01 9.42311410e-01 -2.69705279e-02 -8.80071831e+00] [-8.91835142e-02 -3.07019615e-03 9.96010479e-01 -8.10986911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.056296757 meters 0.07245421518782916 Centerline is valid? [True, True] Translation: X:68.62, Y:-8.80, Z:-8.12 [[ 9.38075883e-01 3.36473436e-01 8.24576558e-02 6.86182422e+01] [-3.35470230e-01 9.41687756e-01 -2.61513905e-02 -8.80363459e+00] [-8.64486130e-02 -3.13009998e-03 9.96251394e-01 -8.11672443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.086296757 meters 0.07173698497750645 Centerline is valid? [True, True] Translation: X:68.65, Y:-8.82, Z:-8.12 [[ 9.37982397e-01 3.36764541e-01 8.23326553e-02 6.86488050e+01] [-3.35765154e-01 9.41583630e-01 -2.61156991e-02 -8.81692971e+00] [-8.63179219e-02 -3.14837064e-03 9.96262668e-01 -8.11783851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.116296757 meters 0.07168090089266758 Centerline is valid? [True, True] Translation: X:68.68, Y:-8.83, Z:-8.12 [[ 9.37800079e-01 3.37468273e-01 8.15240854e-02 6.86783891e+01] [-3.36488590e-01 9.41331620e-01 -2.58884195e-02 -8.82630020e+00] [-8.54777196e-02 -3.15376272e-03 9.96335091e-01 -8.11954956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.146296757 meters 0.07153469870028879 Centerline is valid? [True, True] Translation: X:68.71, Y:-8.84, Z:-8.12 [[ 9.37384006e-01 3.38501601e-01 8.20237303e-02 6.87088139e+01] [-3.37513117e-01 9.40960167e-01 -2.60549573e-02 -8.83611458e+00] [-8.60007077e-02 -3.26058467e-03 9.96289740e-01 -8.12238311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.176296757 meters 0.07198819163996792 Centerline is valid? [True, True] Translation: X:68.74, Y:-8.84, Z:-8.13 [[ 9.37395759e-01 3.38818733e-01 8.05670965e-02 6.87386504e+01] [-3.37864431e-01 9.40846193e-01 -2.56138130e-02 -8.84282749e+00] [-8.44796857e-02 -3.21047649e-03 9.96420030e-01 -8.12776498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.206296757 meters 0.07234027684657719 Centerline is valid? [True, True] Translation: X:68.77, Y:-8.85, Z:-8.13 [[ 9.37081110e-01 3.39799374e-01 8.00960624e-02 6.87694825e+01] [-3.38858172e-01 9.40492291e-01 -2.54831536e-02 -8.85116005e+00] [-8.39888888e-02 -3.26142337e-03 9.96461354e-01 -8.13233990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.236296757 meters 0.07221359381749776 Centerline is valid? [True, True] Translation: X:68.80, Y:-8.86, Z:-8.13 [[ 9.36935545e-01 3.40593941e-01 7.84063278e-02 6.87995862e+01] [-3.39692757e-01 9.40204916e-01 -2.49709385e-02 -8.86236190e+00] [-8.22229651e-02 -3.23790179e-03 9.96608700e-01 -8.13281655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.266296757 meters 0.07219482859347875 Centerline is valid? [True, True] Translation: X:68.83, Y:-8.87, Z:-8.14 [[ 9.36800794e-01 3.40942105e-01 7.85032018e-02 6.88299361e+01] [-3.40039957e-01 9.40078597e-01 -2.50011995e-02 -8.87236185e+00] [-8.23231414e-02 -3.27308178e-03 9.96600315e-01 -8.13538819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.29629675700001 meters 0.07185092644934522 Centerline is valid? [True, True] Translation: X:68.86, Y:-8.88, Z:-8.14 [[ 9.36555552e-01 3.41505150e-01 7.89805748e-02 6.88611980e+01] [-3.40592141e-01 9.39874032e-01 -2.51753259e-02 -8.88288353e+00] [-8.28292948e-02 -3.32207190e-03 9.96558213e-01 -8.13713670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32629675700001 meters 0.07173160153383018 Centerline is valid? [True, True] Translation: X:68.89, Y:-8.89, Z:-8.14 [[ 9.36517372e-01 3.41838923e-01 7.79830931e-02 6.88919810e+01] [-3.40947968e-01 9.39752816e-01 -2.48822583e-02 -8.89286253e+00] [-8.17905557e-02 -3.28551002e-03 9.96644124e-01 -8.13962925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35629675700001 meters 0.07173160153383018 Centerline is valid? [True, True] Translation: X:68.92, Y:-8.90, Z:-8.14 [[ 9.36421032e-01 3.42104071e-01 7.79772690e-02 6.89226498e+01] [-3.41212517e-01 9.39656312e-01 -2.49004940e-02 -8.90273218e+00] [-8.17903933e-02 -3.28947389e-03 9.96644125e-01 -8.14339362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.386296757 meters 0.07189933826686823 Centerline is valid? [True, True] Translation: X:68.95, Y:-8.91, Z:-8.15 [[ 9.36416413e-01 3.42258105e-01 7.73543283e-02 6.89536309e+01] [-3.41379229e-01 9.39600346e-01 -2.47267397e-02 -8.91128317e+00] [-8.11450807e-02 -3.25263607e-03 9.96696993e-01 -8.14834576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.416296757 meters 0.07214095018291046 Centerline is valid? [True, True] Translation: X:68.98, Y:-8.92, Z:-8.15 [[ 9.36675382e-01 3.42098998e-01 7.48832665e-02 6.89839360e+01] [-3.41272877e-01 9.39658769e-01 -2.39629149e-02 -8.92228301e+00] [-7.85624072e-02 -3.11015527e-03 9.96904346e-01 -8.15242605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.446296757 meters 0.07232042156496392 Centerline is valid? [True, True] Translation: X:69.01, Y:-8.93, Z:-8.16 [[ 9.37056556e-01 3.40868667e-01 7.57202985e-02 6.90127797e+01] [-3.40019882e-01 9.40106010e-01 -2.42315829e-02 -8.93138593e+00] [-7.94448950e-02 -3.04004338e-03 9.96834624e-01 -8.15717953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.476296757 meters 0.07218075332097748 Centerline is valid? [True, True] Translation: X:69.04, Y:-8.94, Z:-8.16 [[ 9.37270040e-01 3.40311047e-01 7.55861287e-02 6.90427390e+01] [-3.39462179e-01 9.40308225e-01 -2.42047797e-02 -8.94118938e+00] [-7.93114124e-02 -2.97221710e-03 9.96845457e-01 -8.16029641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.506296757 meters 0.07199091858484227 Centerline is valid? [True, True] Translation: X:69.07, Y:-8.95, Z:-8.16 [[ 9.37201491e-01 3.39798894e-01 7.86770456e-02 6.90730676e+01] [-3.38874914e-01 9.40493263e-01 -2.52233134e-02 -8.95037272e+00] [-8.25660853e-02 -3.02235017e-03 9.96581009e-01 -8.16366578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.536296757 meters 0.07210062733702605 Centerline is valid? [True, True] Translation: X:69.10, Y:-8.96, Z:-8.17 [[ 9.37194446e-01 3.39535676e-01 7.98880194e-02 6.91031789e+01] [-3.38582174e-01 9.40588241e-01 -2.56099943e-02 -8.95859031e+00] [-8.38372384e-02 -3.04711491e-03 9.96474803e-01 -8.16794905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.566296757 meters 0.07225580590364929 Centerline is valid? [True, True] Translation: X:69.13, Y:-8.97, Z:-8.17 [[ 9.37276275e-01 3.39390191e-01 7.95454789e-02 6.91333691e+01] [-3.38442642e-01 9.40640891e-01 -2.55204144e-02 -8.96779443e+00] [-8.34851085e-02 -3.00190305e-03 9.96504503e-01 -8.17248433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.596296757 meters 0.07245878056187614 Centerline is valid? [True, True] Translation: X:69.16, Y:-8.98, Z:-8.18 [[ 9.37389640e-01 3.39625056e-01 7.71717796e-02 6.91633314e+01] [-3.38731860e-01 9.40556418e-01 -2.47861183e-02 -8.97795992e+00] [-8.10023994e-02 -2.90628997e-03 9.96709669e-01 -8.17655072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.626296757 meters 0.07249890991072298 Centerline is valid? [True, True] Translation: X:69.19, Y:-8.99, Z:-8.18 [[ 9.37534205e-01 3.39188059e-01 7.73374058e-02 6.91921812e+01] [-3.38289511e-01 9.40714196e-01 -2.48396560e-02 -8.98827846e+00] [-8.11777102e-02 -2.87440605e-03 9.96695499e-01 -8.18099702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.656296757 meters 0.07194120258808569 Centerline is valid? [True, True] Translation: X:69.22, Y:-9.00, Z:-8.18 [[ 9.37412798e-01 3.39722988e-01 7.64561161e-02 6.92215047e+01] [-3.38845229e-01 9.40521157e-01 -2.45736265e-02 -9.00244687e+00] [-8.02568206e-02 -2.87115821e-03 9.96770083e-01 -8.18160630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68629675700001 meters 0.0718530373405959 Centerline is valid? [True, True] Translation: X:69.25, Y:-9.01, Z:-8.18 [[ 9.37260667e-01 3.40366455e-01 7.54527582e-02 6.92514933e+01] [-3.39512117e-01 9.40288490e-01 -2.42709169e-02 -9.01348463e+00] [-7.92083660e-02 -2.86894987e-03 9.96853953e-01 -8.18459253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71629675700001 meters 0.07306704172109839 Centerline is valid? [True, True] Translation: X:69.28, Y:-9.02, Z:-8.19 [[ 9.36998097e-01 3.41165745e-01 7.51032699e-02 6.92812961e+01] [-3.40320199e-01 9.39998674e-01 -2.41796284e-02 -9.01876444e+00] [-7.88462350e-02 -2.90289398e-03 9.96882563e-01 -8.19307050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.746296757 meters 0.07247374780819896 Centerline is valid? [True, True] Translation: X:69.31, Y:-9.03, Z:-8.19 [[ 9.36208137e-01 3.43489428e-01 7.43595186e-02 6.93102364e+01] [-3.42666412e-01 9.39151590e-01 -2.39587227e-02 -9.03193452e+00] [-7.80644281e-02 -3.05015833e-03 9.96943650e-01 -8.19338769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.776296757 meters 0.07328528872643304 Centerline is valid? [True, True] Translation: X:69.34, Y:-9.04, Z:-8.20 [[ 9.34921705e-01 3.46530179e-01 7.64083826e-02 6.93404218e+01] [-3.45669601e-01 9.38032748e-01 -2.46392196e-02 -9.03900153e+00] [-8.02117983e-02 -3.37631394e-03 9.96772124e-01 -8.19842324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.806296757 meters 0.07327578242758467 Centerline is valid? [True, True] Translation: X:69.37, Y:-9.05, Z:-8.20 [[ 9.34443075e-01 3.47527408e-01 7.77228425e-02 6.93701351e+01] [-3.46638776e-01 9.37663280e-01 -2.50825249e-02 -9.05023796e+00] [-8.15947202e-02 -3.50355931e-03 9.96659434e-01 -8.20047203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.836296757 meters 0.07352054821262488 Centerline is valid? [True, True] Translation: X:69.40, Y:-9.06, Z:-8.20 [[ 9.33879472e-01 3.48584477e-01 7.97370366e-02 6.93990338e+01] [-3.47651048e-01 9.37270189e-01 -2.57554286e-02 -9.06027548e+00] [-8.37130900e-02 -3.66819830e-03 9.96483147e-01 -8.20385881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.866296757 meters 0.0744794382250253 Centerline is valid? [True, True] Translation: X:69.43, Y:-9.07, Z:-8.21 [[ 9.32738403e-01 3.51114097e-01 8.19631766e-02 6.94292981e+01] [-3.50135696e-01 9.36324200e-01 -2.64950254e-02 -9.06696402e+00] [-8.60468827e-02 -3.98530627e-03 9.96283118e-01 -8.20673975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.896296757 meters 0.07462644223046432 Centerline is valid? [True, True] Translation: X:69.46, Y:-9.08, Z:-8.21 [[ 9.31987434e-01 3.52978451e-01 8.24962807e-02 6.94602019e+01] [-3.51992607e-01 9.35622187e-01 -2.66894908e-02 -9.07567357e+00] [-8.66061657e-02 -4.16381085e-03 9.96233926e-01 -8.21119704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.926296757 meters 0.07571628887057699 Centerline is valid? [True, True] Translation: X:69.49, Y:-9.08, Z:-8.22 [[ 9.31034625e-01 3.55576870e-01 8.20951664e-02 6.94896287e+01] [-3.54608411e-01 9.34636873e-01 -2.65855436e-02 -9.08189115e+00] [-8.61823740e-02 -4.35957490e-03 9.96269839e-01 -8.21710000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.956296757 meters 0.07609323484234358 Centerline is valid? [True, True] Translation: X:69.52, Y:-9.09, Z:-8.22 [[ 9.30699680e-01 3.56429763e-01 8.21944598e-02 6.95194903e+01] [-3.55461805e-01 9.34311575e-01 -2.66230201e-02 -9.09226653e+00] [-8.62844720e-02 -4.43895477e-03 9.96260651e-01 -8.22085108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.986296757 meters 0.07639761667291006 Centerline is valid? [True, True] Translation: X:69.55, Y:-9.10, Z:-8.22 [[ 9.30498179e-01 3.56787581e-01 8.29202102e-02 6.95477883e+01] [-3.55801907e-01 9.34174744e-01 -2.68803034e-02 -9.10412956e+00] [-8.70525245e-02 -4.49109556e-03 9.96193600e-01 -8.22300057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.016296757 meters 0.07408911352797712 Centerline is valid? [True, True] Translation: X:69.58, Y:-9.12, Z:-8.22 [[ 9.30540439e-01 3.56837057e-01 8.22302033e-02 6.95756706e+01] [-3.55866035e-01 9.34156102e-01 -2.66784907e-02 -9.12161868e+00] [-8.63357203e-02 -4.43752189e-03 9.96256218e-01 -8.22240370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.04629675700001 meters 0.07450426640792501 Centerline is valid? [True, True] Translation: X:69.61, Y:-9.13, Z:-8.23 [[ 9.30883368e-01 3.55933660e-01 8.22641209e-02 6.96055540e+01] [-3.54957129e-01 9.34501135e-01 -2.67032829e-02 -9.13073058e+00] [-8.63805116e-02 -4.34259423e-03 9.96252754e-01 -8.22720691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07629675700001 meters 0.07470623920835819 Centerline is valid? [True, True] Translation: X:69.63, Y:-9.14, Z:-8.23 [[ 9.31294166e-01 3.54640196e-01 8.31956025e-02 6.96344891e+01] [-3.53635801e-01 9.34993119e-01 -2.70108692e-02 -9.13968699e+00] [-8.73664558e-02 -4.26587864e-03 9.96167107e-01 -8.23241316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10629675700001 meters 0.07387310373368268 Centerline is valid? [True, True] Translation: X:69.66, Y:-9.15, Z:-8.23 [[ 9.31476908e-01 3.53841010e-01 8.45417645e-02 6.96635885e+01] [-3.52798694e-01 9.35295976e-01 -2.74685008e-02 -9.15292521e+00] [-8.87910542e-02 -4.23994990e-03 9.96041250e-01 -8.23357347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.136296757 meters 0.0739717984106206 Centerline is valid? [True, True] Translation: X:69.69, Y:-9.16, Z:-8.24 [[ 9.31430993e-01 3.53963605e-01 8.45344387e-02 6.96948529e+01] [-3.52921787e-01 9.35249544e-01 -2.74682120e-02 -9.16338061e+00] [-8.87835426e-02 -4.24930122e-03 9.96041880e-01 -8.23678488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.166296757 meters 0.07297904007213618 Centerline is valid? [True, True] Translation: X:69.72, Y:-9.18, Z:-8.24 [[ 9.31424883e-01 3.53812153e-01 8.52329032e-02 6.97239459e+01] [-3.52749977e-01 9.35306870e-01 -2.77220549e-02 -9.17628692e+00] [-8.95273199e-02 -4.24489290e-03 9.95975321e-01 -8.23873128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.196296757 meters 0.07429880665965247 Centerline is valid? [True, True] Translation: X:69.75, Y:-9.18, Z:-8.25 [[ 9.31709319e-01 3.52976677e-01 8.55874377e-02 6.97544005e+01] [-3.51899946e-01 9.35622875e-01 -2.78614938e-02 -9.18151456e+00] [-8.99120221e-02 -4.15940133e-03 9.95941026e-01 -8.24578444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.226296757 meters 0.07342178836411799 Centerline is valid? [True, True] Translation: X:69.78, Y:-9.20, Z:-8.25 [[ 9.32363497e-01 3.51455082e-01 8.47209282e-02 6.97827546e+01] [-3.50391951e-01 9.36196404e-01 -2.76002507e-02 -9.19694903e+00] [-8.90156766e-02 -3.95206509e-03 9.96022385e-01 -8.24875647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.256296757 meters 0.07225942733738426 Centerline is valid? [True, True] Translation: X:69.81, Y:-9.21, Z:-8.25 [[ 9.32884902e-01 3.50109224e-01 8.45534806e-02 6.98117900e+01] [-3.49042799e-01 9.36701195e-01 -2.75680015e-02 -9.21209493e+00] [-8.88531580e-02 -3.79501121e-03 9.96037506e-01 -8.24971597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.286296757 meters 0.07287930321518657 Centerline is valid? [True, True] Translation: X:69.84, Y:-9.22, Z:-8.25 [[ 9.33049197e-01 3.49632756e-01 8.47120499e-02 6.98413765e+01] [-3.48558200e-01 9.36879391e-01 -2.76439460e-02 -9.22037916e+00] [-8.90302027e-02 -3.73391800e-03 9.96021928e-01 -8.25476520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.316296757 meters 0.07231240140072435 Centerline is valid? [True, True] Translation: X:69.87, Y:-9.23, Z:-8.26 [[ 9.33027102e-01 3.49292923e-01 8.63416577e-02 6.98719658e+01] [-3.48172805e-01 9.37006081e-01 -2.82011000e-02 -9.23159210e+00] [-9.07531030e-02 -3.74942659e-03 9.95866365e-01 -8.25717067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.346296757 meters 0.07288746393671165 Centerline is valid? [True, True] Translation: X:69.90, Y:-9.24, Z:-8.26 [[ 9.32845456e-01 3.49706414e-01 8.66301278e-02 6.99026054e+01] [-3.48579685e-01 9.36851661e-01 -2.83049316e-02 -9.23891956e+00] [-9.10579952e-02 -3.79337582e-03 9.95838366e-01 -8.26262592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.376296757 meters 0.07227297882441315 Centerline is valid? [True, True] Translation: X:69.93, Y:-9.25, Z:-8.26 [[ 9.32789097e-01 3.50082078e-01 8.57148701e-02 6.99319550e+01] [-3.48978423e-01 9.36711457e-01 -2.80304401e-02 -9.25189830e+00] [-9.01030556e-02 -3.76615133e-03 9.95925326e-01 -8.26490520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.406296757 meters 0.07254580981055583 Centerline is valid? [True, True] Translation: X:69.96, Y:-9.26, Z:-8.27 [[ 9.32849002e-01 3.49906034e-01 8.57817399e-02 6.99619051e+01] [-3.48797517e-01 9.36777388e-01 -2.80787577e-02 -9.26139664e+00] [-9.01833210e-02 -3.72721682e-03 9.95918208e-01 -8.26933709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.43629675700001 meters 0.07210761504180631 Centerline is valid? [True, True] Translation: X:69.99, Y:-9.27, Z:-8.27 [[ 9.33167707e-01 3.49001568e-01 8.59996303e-02 6.99920124e+01] [-3.47882326e-01 9.37115086e-01 -2.81638659e-02 -9.27312932e+00] [-9.04207843e-02 -3.63614131e-03 9.95897013e-01 -8.27363259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.46629675700001 meters 0.07216853519980936 Centerline is valid? [True, True] Translation: X:70.02, Y:-9.28, Z:-8.28 [[ 9.33173859e-01 3.49101448e-01 8.55261833e-02 7.00227181e+01] [-3.47994648e-01 9.37077935e-01 -2.80119551e-02 -9.28297802e+00] [-8.99237133e-02 -3.62262982e-03 9.95942068e-01 -8.27868204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.496296757 meters 0.07237566938584883 Centerline is valid? [True, True] Translation: X:70.05, Y:-9.29, Z:-8.28 [[ 9.33299658e-01 3.48800490e-01 8.53813020e-02 7.00526635e+01] [-3.47693758e-01 9.37190231e-01 -2.79914466e-02 -9.29227722e+00] [-8.97819524e-02 -3.56213817e-03 9.95955075e-01 -8.28425379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.526296757 meters 0.071648752585944 Centerline is valid? [True, True] Translation: X:70.08, Y:-9.31, Z:-8.29 [[ 9.33495079e-01 3.48476376e-01 8.45644950e-02 7.00829253e+01] [-3.47387557e-01 9.37311114e-01 -2.77445671e-02 -9.30683600e+00] [-8.89315672e-02 -3.47723642e-03 9.96031669e-01 -8.28670818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.556296757 meters 0.07257155762344075 Centerline is valid? [True, True] Translation: X:70.11, Y:-9.31, Z:-8.29 [[ 9.33590019e-01 3.48177289e-01 8.47481670e-02 7.01126387e+01] [-3.47079740e-01 9.37422439e-01 -2.78356752e-02 -9.31444138e+00] [-8.91365834e-02 -3.42726330e-03 9.96013516e-01 -8.29246082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.586296757 meters 0.07156282692759854 Centerline is valid? [True, True] Translation: X:70.14, Y:-9.33, Z:-8.29 [[ 9.33664852e-01 3.47529327e-01 8.65639078e-02 7.01417117e+01] [-3.46380009e-01 9.37662863e-01 -2.84472370e-02 -9.33068278e+00] [-9.10540107e-02 -3.42382186e-03 9.95840070e-01 -8.29239941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.616296757 meters 0.07147157521119307 Centerline is valid? [True, True] Translation: X:70.17, Y:-9.34, Z:-8.30 [[ 9.33741165e-01 3.46955973e-01 8.80283445e-02 7.01718076e+01] [-3.45764376e-01 9.37875179e-01 -2.89334509e-02 -9.34062326e+00] [-9.25982330e-02 -3.42071148e-03 9.95697678e-01 -8.29613030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.646296757 meters 0.07125801173698183 Centerline is valid? [True, True] Translation: X:70.20, Y:-9.35, Z:-8.30 [[ 9.33736715e-01 3.46463182e-01 8.99945022e-02 7.02014718e+01] [-3.45213017e-01 9.38057321e-01 -2.96046578e-02 -9.35140306e+00] [-9.46769256e-02 -3.42431767e-03 9.95502162e-01 -8.29990926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.676296757 meters 0.07158074417472853 Centerline is valid? [True, True] Translation: X:70.23, Y:-9.36, Z:-8.30 [[ 9.33824905e-01 3.46225503e-01 8.99941515e-02 7.02320024e+01] [-3.44971607e-01 9.38145254e-01 -2.96323086e-02 -9.36205334e+00] [-9.46870471e-02 -3.37403925e-03 9.95501371e-01 -8.30422678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.706296757 meters 0.07264465285178262 Centerline is valid? [True, True] Translation: X:70.26, Y:-9.37, Z:-8.31 [[ 9.33991246e-01 3.46091854e-01 8.87737684e-02 7.02609320e+01] [-3.44870704e-01 9.38194796e-01 -2.92356446e-02 -9.37088262e+00] [-9.34053060e-02 -3.30963586e-03 9.95622667e-01 -8.31087379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.736296757 meters 0.07211628174119103 Centerline is valid? [True, True] Translation: X:70.29, Y:-9.38, Z:-8.31 [[ 9.33871317e-01 3.46167357e-01 8.97358572e-02 7.02908494e+01] [-3.44917802e-01 9.38166859e-01 -2.95745645e-02 -9.38351083e+00] [-9.44249560e-02 -3.33265719e-03 9.95526404e-01 -8.31313691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.766296757 meters 0.07227405945343941 Centerline is valid? [True, True] Translation: X:70.32, Y:-9.39, Z:-8.32 [[ 9.33626136e-01 3.46400445e-01 9.13727018e-02 7.03202227e+01] [-3.45103327e-01 9.38080605e-01 -3.01408714e-02 -9.39244922e+00] [-9.61557706e-02 -3.39271813e-03 9.95360516e-01 -8.31623378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.79629675700001 meters 0.07217722556899808 Centerline is valid? [True, True] Translation: X:70.35, Y:-9.40, Z:-8.32 [[ 9.33674541e-01 3.46210931e-01 9.15960872e-02 7.03508659e+01] [-3.44905093e-01 9.38150655e-01 -3.02295381e-02 -9.40304558e+00] [-9.63967257e-02 -3.36740679e-03 9.95337296e-01 -8.31973586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82629675700001 meters 0.07259155497142987 Centerline is valid? [True, True] Translation: X:70.38, Y:-9.41, Z:-8.32 [[ 9.33484110e-01 3.46815236e-01 9.12502494e-02 7.03810201e+01] [-3.45521603e-01 9.37927265e-01 -3.01208966e-02 -9.41229716e+00] [-9.60324826e-02 -3.41155410e-03 9.95372354e-01 -8.32381632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85629675700001 meters 0.072441137132806 Centerline is valid? [True, True] Translation: X:70.41, Y:-9.42, Z:-8.33 [[ 9.32729652e-01 3.48699784e-01 9.17815745e-02 7.04102245e+01] [-3.47397754e-01 9.37227546e-01 -3.03204232e-02 -9.42454365e+00] [-9.65929448e-02 -3.60395504e-03 9.95317444e-01 -8.32601466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.886296757 meters 0.07288301295027586 Centerline is valid? [True, True] Translation: X:70.44, Y:-9.43, Z:-8.33 [[ 9.31905616e-01 3.50463282e-01 9.34206183e-02 7.04410069e+01] [-3.49120759e-01 9.36568629e-01 -3.08852513e-02 -9.43309864e+00] [-9.83189669e-02 -3.83293805e-03 9.95147572e-01 -8.32932879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.916296757 meters 0.07273069794626039 Centerline is valid? [True, True] Translation: X:70.47, Y:-9.44, Z:-8.33 [[ 9.31447497e-01 3.51713310e-01 9.32915242e-02 7.04706670e+01] [-3.50378283e-01 9.36099491e-01 -3.08674978e-02 -9.44334357e+00] [-9.81866581e-02 -3.93587057e-03 9.95160233e-01 -8.33330222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.946296757 meters 0.07226688090693924 Centerline is valid? [True, True] Translation: X:70.50, Y:-9.45, Z:-8.34 [[ 9.31171685e-01 3.52641204e-01 9.25390444e-02 7.05001051e+01] [-3.51330020e-01 9.35750150e-01 -3.06410456e-02 -9.45443431e+00] [-9.73987199e-02 -3.97967023e-03 9.95237485e-01 -8.33741239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.976296757 meters 0.07284924135633897 Centerline is valid? [True, True] Translation: X:70.53, Y:-9.46, Z:-8.34 [[ 9.30515700e-01 3.54650676e-01 9.14517875e-02 7.05315600e+01] [-3.53377022e-01 9.34989830e-01 -3.03100516e-02 -9.46119109e+00] [-9.62559715e-02 -4.11298138e-03 9.95348116e-01 -8.34300107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.006296757 meters 0.0732088594333355 Centerline is valid? [True, True] Translation: X:70.56, Y:-9.47, Z:-8.35 [[ 9.29953580e-01 3.55965549e-01 9.20590438e-02 7.05615695e+01] [-3.54680884e-01 9.34489308e-01 -3.05156494e-02 -9.46991920e+00] [-9.68907119e-02 -4.27344557e-03 9.95285852e-01 -8.34677003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.036296757 meters 0.07389157800796994 Centerline is valid? [True, True] Translation: X:70.59, Y:-9.48, Z:-8.35 [[ 9.29396887e-01 3.57454275e-01 9.19122814e-02 7.05915370e+01] [-3.56178638e-01 9.33920280e-01 -3.04907998e-02 -9.47835907e+00] [-9.67378103e-02 -4.39913674e-03 9.95300178e-01 -8.35037662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.066296757 meters 0.07402433641774094 Centerline is valid? [True, True] Translation: X:70.62, Y:-9.49, Z:-8.35 [[ 9.28879419e-01 3.58796171e-01 9.19148099e-02 7.06219913e+01] [-3.57524743e-01 9.33405005e-01 -3.05148462e-02 -9.48734809e+00] [-9.67423536e-02 -4.51720610e-03 9.95299207e-01 -8.35456888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.096296757 meters 0.07458770022328556 Centerline is valid? [True, True] Translation: X:70.65, Y:-9.49, Z:-8.36 [[ 9.28130456e-01 3.60897957e-01 9.12497736e-02 7.06535309e+01] [-3.59652237e-01 9.32593593e-01 -3.03225669e-02 -9.49348956e+00] [-9.60423067e-02 -4.67488737e-03 9.95366275e-01 -8.35972766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.126296757 meters 0.07564930466261836 Centerline is valid? [True, True] Translation: X:70.68, Y:-9.50, Z:-8.36 [[ 9.27927879e-01 3.61571237e-01 9.06426572e-02 7.06834424e+01] [-3.60344834e-01 9.32332596e-01 -3.01252540e-02 -9.49944609e+00] [-9.54015293e-02 -4.70855021e-03 9.95427736e-01 -8.36488375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.156296757 meters 0.07500136985204285 Centerline is valid? [True, True] Translation: X:70.71, Y:-9.51, Z:-8.37 [[ 9.27927108e-01 3.61553273e-01 9.07221756e-02 7.07131003e+01] [-3.60322846e-01 9.32339639e-01 -3.01702585e-02 -9.51074420e+00] [-9.54920361e-02 -4.69347179e-03 9.95419129e-01 -8.36868545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.18629675700001 meters 0.07548305668866011 Centerline is valid? [True, True] Translation: X:70.74, Y:-9.52, Z:-8.37 [[ 9.27845465e-01 3.61464458e-01 9.19034161e-02 7.07424869e+01] [-3.60198782e-01 9.32373933e-01 -3.05889869e-02 -9.51923822e+00] [-9.67451811e-02 -4.72164575e-03 9.95297984e-01 -8.37236372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21629675700001 meters 0.07462086585286791 Centerline is valid? [True, True] Translation: X:70.77, Y:-9.53, Z:-8.38 [[ 9.27983767e-01 3.61172669e-01 9.16538691e-02 7.07720631e+01] [-3.59910248e-01 9.32487327e-01 -3.05286525e-02 -9.53240198e+00] [-9.64921863e-02 -4.65707278e-03 9.95322847e-01 -8.37510609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.246296757 meters 0.07462086585286791 Centerline is valid? [True, True] Translation: X:70.80, Y:-9.54, Z:-8.38 [[ 9.27882007e-01 3.61435876e-01 9.16465445e-02 7.08025909e+01] [-3.60172568e-01 9.32385318e-01 -3.05506237e-02 -9.54267640e+00] [-9.64919839e-02 -4.66119717e-03 9.95322847e-01 -8.37887013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.276296757 meters 0.07445014373625594 Centerline is valid? [True, True] Translation: X:70.83, Y:-9.55, Z:-8.38 [[ 9.28616944e-01 3.59684854e-01 9.10899431e-02 7.08310696e+01] [-3.58425597e-01 9.33063362e-01 -3.03949681e-02 -9.55352452e+00] [-9.59252982e-02 -4.42368489e-03 9.95378706e-01 -8.38255335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.306296757 meters 0.07355487087231077 Centerline is valid? [True, True] Translation: X:70.86, Y:-9.57, Z:-8.39 [[ 9.29185722e-01 3.58314117e-01 9.06911649e-02 7.08601510e+01] [-3.57057423e-01 9.33591442e-01 -3.02822623e-02 -9.56662198e+00] [-9.55190575e-02 -4.24410790e-03 9.95418554e-01 -8.38516401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.336296757 meters 0.07393065902262826 Centerline is valid? [True, True] Translation: X:70.89, Y:-9.57, Z:-8.39 [[ 9.29587574e-01 3.57596680e-01 8.93955107e-02 7.08898554e+01] [-3.56370019e-01 9.33867182e-01 -2.98746782e-02 -9.57485176e+00] [-9.41666194e-02 -4.08675024e-03 9.95548063e-01 -8.39011109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.366296757 meters 0.07396114212373349 Centerline is valid? [True, True] Translation: X:70.92, Y:-9.58, Z:-8.40 [[ 9.29926503e-01 3.56529208e-01 9.01311384e-02 7.09200439e+01] [-3.55275035e-01 9.34275658e-01 -3.01437393e-02 -9.58486716e+00] [-9.49544521e-02 -3.98988125e-03 9.95473622e-01 -8.39528256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.396296757 meters 0.07358432611941107 Centerline is valid? [True, True] Translation: X:70.95, Y:-9.60, Z:-8.40 [[ 9.30564701e-01 3.54372095e-01 9.20312733e-02 7.09496180e+01] [-3.53051024e-01 9.35096683e-01 -3.08085589e-02 -9.59583925e+00] [-9.69758320e-02 -3.82237785e-03 9.95279397e-01 -8.39823683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.426296757 meters 0.07335035213087743 Centerline is valid? [True, True] Translation: X:70.98, Y:-9.61, Z:-8.40 [[ 9.30632785e-01 3.54042258e-01 9.26104740e-02 7.09800391e+01] [-3.52702674e-01 9.35221664e-01 -3.10042476e-02 -9.60630688e+00] [-9.75881354e-02 -3.81039246e-03 9.95219592e-01 -8.40144141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.456296757 meters 0.07355334827531188 Centerline is valid? [True, True] Translation: X:71.01, Y:-9.62, Z:-8.41 [[ 9.30681921e-01 3.54225815e-01 9.14069647e-02 7.10099592e+01] [-3.52919357e-01 9.35152375e-01 -3.06261883e-02 -9.61579492e+00] [-9.63280266e-02 -3.75604748e-03 9.95342556e-01 -8.40509999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.486296757 meters 0.07332946170604346 Centerline is valid? [True, True] Translation: X:71.04, Y:-9.63, Z:-8.41 [[ 9.30722842e-01 3.54412421e-01 9.02597740e-02 7.10404192e+01] [-3.53137376e-01 9.35081865e-01 -3.02638106e-02 -9.62548968e+00] [-9.51261482e-02 -3.70687999e-03 9.95458324e-01 -8.40867595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.516296757 meters 0.07372627054808077 Centerline is valid? [True, True] Translation: X:71.07, Y:-9.63, Z:-8.41 [[ 9.30461561e-01 3.54900155e-01 9.10338552e-02 7.10711241e+01] [-3.53603108e-01 9.34896622e-01 -3.05474906e-02 -9.63340408e+00] [-9.59485528e-02 -3.76658831e-03 9.95379168e-01 -8.41313535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.54629675700001 meters 0.07400672115480217 Centerline is valid? [True, True] Translation: X:71.10, Y:-9.64, Z:-8.42 [[ 9.30185663e-01 3.55845553e-01 9.01586090e-02 7.11017494e+01] [-3.54575148e-01 9.34537050e-01 -3.02814513e-02 -9.64243131e+00] [-9.50320802e-02 -3.80063029e-03 9.95466955e-01 -8.41736572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57629675700001 meters 0.07396853095508532 Centerline is valid? [True, True] Translation: X:71.13, Y:-9.65, Z:-8.42 [[ 9.29945681e-01 3.56865603e-01 8.85887848e-02 7.11326957e+01] [-3.55641595e-01 9.34147948e-01 -2.97769689e-02 -9.65065557e+00] [-9.33814075e-02 -3.81489308e-03 9.95623101e-01 -8.42236670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.60629675700001 meters 0.07434735058015177 Centerline is valid? [True, True] Translation: X:71.17, Y:-9.66, Z:-8.43 [[ 9.29272440e-01 3.58163463e-01 9.03972644e-02 7.11651068e+01] [-3.56892709e-01 9.33650310e-01 -3.04087772e-02 -9.65771805e+00] [-9.52907469e-02 -4.00408593e-03 9.95441430e-01 -8.42619310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.636296757 meters 0.07399319864788845 Centerline is valid? [True, True] Translation: X:71.20, Y:-9.67, Z:-8.43 [[ 9.28749081e-01 3.59100548e-01 9.20431503e-02 7.11961028e+01] [-3.57784839e-01 9.33289656e-01 -3.09907480e-02 -9.66919465e+00] [-9.70317147e-02 -4.14901499e-03 9.95272642e-01 -8.42898505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.666296757 meters 0.07413017555882467 Centerline is valid? [True, True] Translation: X:71.23, Y:-9.68, Z:-8.43 [[ 9.28598944e-01 3.59810222e-01 9.07777823e-02 7.12267384e+01] [-3.58531146e-01 9.33016335e-01 -3.05930694e-02 -9.67862833e+00] [-9.57048528e-02 -4.13797033e-03 9.95401154e-01 -8.43232847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.696296757 meters 0.07421240560166131 Centerline is valid? [True, True] Translation: X:71.26, Y:-9.69, Z:-8.44 [[ 9.28607722e-01 3.59924224e-01 9.02344279e-02 7.12579248e+01] [-3.58658728e-01 9.32972519e-01 -3.04334645e-02 -9.68801461e+00] [-9.51399826e-02 -4.10261502e-03 9.95455450e-01 -8.43718881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.726296757 meters 0.07411434912758706 Centerline is valid? [True, True] Translation: X:71.29, Y:-9.70, Z:-8.44 [[ 9.28541791e-01 3.60045508e-01 9.04288349e-02 7.12878685e+01] [-3.58772342e-01 9.32925746e-01 -3.05280015e-02 -9.69755962e+00] [-9.53548580e-02 -4.09683968e-03 9.95434913e-01 -8.44139885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.756296757 meters 0.07389381819803233 Centerline is valid? [True, True] Translation: X:71.32, Y:-9.71, Z:-8.44 [[ 9.28863687e-01 3.59211040e-01 9.04415817e-02 7.13181713e+01] [-3.57931219e-01 9.33247834e-01 -3.05568851e-02 -9.70677634e+00] [-9.53807807e-02 -3.98868460e-03 9.95432869e-01 -8.44482472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.786296757 meters 0.07399444708619876 Centerline is valid? [True, True] Translation: X:71.35, Y:-9.71, Z:-8.45 [[ 9.29056649e-01 3.58762469e-01 9.02398617e-02 7.13475682e+01] [-3.57483884e-01 9.33420697e-01 -3.05135126e-02 -9.71475142e+00] [-9.51788578e-02 -3.91051446e-03 9.95452507e-01 -8.44868165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.816296757 meters 0.07312228385269984 Centerline is valid? [True, True] Translation: X:71.38, Y:-9.73, Z:-8.45 [[ 9.29908325e-01 3.56407792e-01 9.07964410e-02 7.13766641e+01] [-3.55099613e-01 9.34323304e-01 -3.07282983e-02 -9.72706498e+00] [-9.57850357e-02 -3.66728060e-03 9.95395287e-01 -8.45136119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.846296757 meters 0.07297882797647307 Centerline is valid? [True, True] Translation: X:71.41, Y:-9.74, Z:-8.45 [[ 9.30373252e-01 3.55319123e-01 9.02991256e-02 7.14058744e+01] [-3.54019995e-01 9.34738376e-01 -3.05616056e-02 -9.73775306e+00] [-9.52651809e-02 -3.53399552e-03 9.95445657e-01 -8.45474460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.876296757 meters 0.07161964266514927 Centerline is valid? [True, True] Translation: X:71.43, Y:-9.75, Z:-8.46 [[ 9.31583327e-01 3.52484564e-01 8.89220835e-02 7.14344771e+01] [-3.51209997e-01 9.35812243e-01 -3.01161740e-02 -9.75280932e+00] [-9.38298609e-02 -3.17459914e-03 9.95583185e-01 -8.45781295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.906296757 meters 0.07227061670143778 Centerline is valid? [True, True] Translation: X:71.46, Y:-9.76, Z:-8.46 [[ 9.31897188e-01 3.51659050e-01 8.89018730e-02 7.14638393e+01] [-3.50379014e-01 9.36123123e-01 -3.01337806e-02 -9.75994142e+00] [-9.38199156e-02 -3.06776522e-03 9.95584458e-01 -8.46436190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93629675700001 meters 0.07093178462574741 Centerline is valid? [True, True] Translation: X:71.49, Y:-9.77, Z:-8.47 [[ 9.33308613e-01 3.48138835e-01 8.79453531e-02 7.14926744e+01] [-3.46868284e-01 9.37439211e-01 -2.98348640e-02 -9.77355974e+00] [-9.28300972e-02 -2.66031817e-03 9.95678410e-01 -8.46722017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96629675700001 meters 0.07156318399924455 Centerline is valid? [True, True] Translation: X:71.52, Y:-9.78, Z:-8.47 [[ 9.33750204e-01 3.47172644e-01 8.70730251e-02 7.15225625e+01] [-3.45922502e-01 9.37797813e-01 -2.95446134e-02 -9.77983671e+00] [-9.19139741e-02 -2.53322993e-03 9.95763729e-01 -8.47431898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.996296757 meters 0.0704866354835199 Centerline is valid? [True, True] Translation: X:71.55, Y:-9.79, Z:-8.47 [[ 9.34570576e-01 3.44674482e-01 8.81892312e-02 7.15513702e+01] [-3.43379782e-01 9.38719439e-01 -2.99355859e-02 -9.79302720e+00] [-9.31029783e-02 -2.30548123e-03 9.95653815e-01 -8.47444067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.026296757 meters 0.07009014949244724 Centerline is valid? [True, True] Translation: X:71.58, Y:-9.81, Z:-8.48 [[ 9.34869613e-01 3.43572102e-01 8.93141536e-02 7.15813505e+01] [-3.42237406e-01 9.39123708e-01 -3.03351216e-02 -9.80502139e+00] [-9.42993405e-02 -2.20726083e-03 9.95541442e-01 -8.47677086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.056296757 meters 0.06966117894511278 Centerline is valid? [True, True] Translation: X:71.61, Y:-9.82, Z:-8.48 [[ 9.35519840e-01 3.41993400e-01 8.85615240e-02 7.16103514e+01] [-3.40671878e-01 9.39700208e-01 -3.01030017e-02 -9.81677425e+00] [-9.35163104e-02 -2.00846540e-03 9.95615722e-01 -8.47880283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.086296757 meters 0.06930285859626435 Centerline is valid? [True, True] Translation: X:71.64, Y:-9.83, Z:-8.48 [[ 9.35449877e-01 3.42176512e-01 8.85932384e-02 7.16414618e+01] [-3.40852967e-01 9.39633546e-01 -3.01339380e-02 -9.82809255e+00] [-9.35563045e-02 -2.00847948e-03 9.95611965e-01 -8.48137242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.116296757 meters 0.0698376075715351 Centerline is valid? [True, True] Translation: X:71.67, Y:-9.83, Z:-8.49 [[ 9.35028716e-01 3.43634169e-01 8.73891131e-02 7.16723618e+01] [-3.42350183e-01 9.39101248e-01 -2.97522814e-02 -9.83146541e+00] [-9.22911257e-02 -2.09844135e-03 9.95729855e-01 -8.48916189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.146296757 meters 0.06964752115976625 Centerline is valid? [True, True] Translation: X:71.70, Y:-9.84, Z:-8.49 [[ 9.34506007e-01 3.45326967e-01 8.63006921e-02 7.17028701e+01] [-3.44080113e-01 9.38479818e-01 -2.94024991e-02 -9.84237056e+00] [-9.11449336e-02 -2.21753993e-03 9.95835169e-01 -8.49070976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.176296757 meters 0.06958202216739716 Centerline is valid? [True, True] Translation: X:71.73, Y:-9.85, Z:-8.49 [[ 9.33686687e-01 3.47652903e-01 8.58290752e-02 7.17333638e+01] [-3.46427104e-01 9.37620215e-01 -2.92676385e-02 -9.85110846e+00] [-9.06500554e-02 -2.40671351e-03 9.95879900e-01 -8.49319384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.206296757 meters 0.06966296431690269 Centerline is valid? [True, True] Translation: X:71.76, Y:-9.86, Z:-8.50 [[ 9.33253982e-01 3.48966988e-01 8.52000340e-02 7.17638437e+01] [-3.47763826e-01 9.37131662e-01 -2.90614614e-02 -9.86068384e+00] [-8.99851401e-02 -2.50776525e-03 9.95939951e-01 -8.49709728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.236296757 meters 0.06994963606481369 Centerline is valid? [True, True] Translation: X:71.79, Y:-9.87, Z:-8.50 [[ 9.32107587e-01 3.52264767e-01 8.41723290e-02 7.17935295e+01] [-3.51101690e-01 9.35896292e-01 -2.87355815e-02 -9.86792478e+00] [-8.88991035e-02 -2.76839337e-03 9.96036789e-01 -8.50120780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.266296757 meters 0.07010239420039532 Centerline is valid? [True, True] Translation: X:71.82, Y:-9.88, Z:-8.51 [[ 9.31510420e-01 3.54192701e-01 8.26793024e-02 7.18236257e+01] [-3.53077094e-01 9.35168000e-01 -2.82378795e-02 -9.87723626e+00] [-8.73206887e-02 -2.88828882e-03 9.96176066e-01 -8.50577484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.29629675700001 meters 0.07063434738184803 Centerline is valid? [True, True] Translation: X:71.85, Y:-9.89, Z:-8.51 [[ 9.30782544e-01 3.56254908e-01 8.20140065e-02 7.18536585e+01] [-3.55163421e-01 9.34383868e-01 -2.80308921e-02 -9.88510729e+00] [-8.66187075e-02 -3.03771012e-03 9.96236905e-01 -8.51090257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32629675700001 meters 0.07130101592760356 Centerline is valid? [True, True] Translation: X:71.88, Y:-9.89, Z:-8.52 [[ 9.29880082e-01 3.58986186e-01 8.03240408e-02 7.18834467e+01] [-3.57947420e-01 9.33337382e-01 -2.74768393e-02 -9.89282419e+00] [-8.48332357e-02 -3.20161753e-03 9.96390020e-01 -8.51652871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35629675700001 meters 0.07140926456431988 Centerline is valid? [True, True] Translation: X:71.91, Y:-9.90, Z:-8.52 [[ 9.29420529e-01 3.60030715e-01 8.09651998e-02 7.19126538e+01] [-3.58978647e-01 9.32934553e-01 -2.77029019e-02 -9.90328030e+00] [-8.55091281e-02 -3.31713214e-03 9.96331865e-01 -8.52052853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.386296757 meters 0.0710784412409568 Centerline is valid? [True, True] Translation: X:71.94, Y:-9.92, Z:-8.52 [[ 9.29696121e-01 3.59405734e-01 8.05769301e-02 7.19425534e+01] [-3.58360714e-01 9.33175785e-01 -2.75781408e-02 -9.91534034e+00] [-8.51041819e-02 -3.23631563e-03 9.96366802e-01 -8.52374547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.416296757 meters 0.0703859836623488 Centerline is valid? [True, True] Translation: X:71.97, Y:-9.93, Z:-8.53 [[ 9.30019242e-01 3.58360340e-01 8.14989366e-02 7.19718888e+01] [-3.57285389e-01 9.33578010e-01 -2.79150387e-02 -9.92892029e+00] [-8.60892578e-02 -3.15685619e-03 9.96282427e-01 -8.52630956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.446296757 meters 0.07063557831873161 Centerline is valid? [True, True] Translation: X:72.00, Y:-9.94, Z:-8.53 [[ 9.31356935e-01 3.54895215e-01 8.13857909e-02 7.19999877e+01] [-3.53808019e-01 9.34901861e-01 -2.78997670e-02 -9.93981001e+00] [-8.59892212e-02 -2.81030400e-03 9.96292104e-01 -8.53308610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.476296757 meters 0.0696660154276658 Centerline is valid? [True, True] Translation: X:72.03, Y:-9.96, Z:-8.53 [[ 9.32073808e-01 3.52875702e-01 8.19582549e-02 7.20275210e+01] [-3.51763959e-01 9.35666519e-01 -2.81119618e-02 -9.95504246e+00] [-8.66056233e-02 -2.62753695e-03 9.96239209e-01 -8.53479417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.506296757 meters 0.06890281525726975 Centerline is valid? [True, True] Translation: X:72.05, Y:-9.97, Z:-8.54 [[ 9.33601251e-01 3.48340462e-01 8.39501393e-02 7.20547284e+01] [-3.47153842e-01 9.37365402e-01 -2.88151541e-02 -9.97196857e+00] [-8.87294401e-02 -2.24174948e-03 9.96053242e-01 -8.53660613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.536296757 meters 0.06863402620633746 Centerline is valid? [True, True] Translation: X:72.08, Y:-9.98, Z:-8.54 [[ 9.34279079e-01 3.46387378e-01 8.44889732e-02 7.20836334e+01] [-3.45176073e-01 9.38089315e-01 -2.90157950e-02 -9.98449241e+00] [-8.93089081e-02 -2.05472178e-03 9.96001856e-01 -8.54029867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.566296757 meters 0.06845345469603685 Centerline is valid? [True, True] Translation: X:72.11, Y:-10.00, Z:-8.55 [[ 9.35632228e-01 3.42778370e-01 8.42337460e-02 7.21118371e+01] [-3.41557824e-01 9.39414793e-01 -2.89499570e-02 -9.99865180e+00] [-8.90538461e-02 -1.68418229e-03 9.96025389e-01 -8.54556846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.596296757 meters 0.06852521757987423 Centerline is valid? [True, True] Translation: X:72.14, Y:-10.01, Z:-8.55 [[ 9.36093415e-01 3.41901951e-01 8.26569624e-02 7.21408934e+01] [-3.40721519e-01 9.39734351e-01 -2.84287950e-02 -1.00111897e+01] [-8.73954474e-02 -1.55099802e-03 9.96172490e-01 -8.54986760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.626296757 meters 0.0683641956289054 Centerline is valid? [True, True] Translation: X:72.17, Y:-10.03, Z:-8.55 [[ 9.36842450e-01 3.39778960e-01 8.29245618e-02 7.21683185e+01] [-3.38580651e-01 9.40504371e-01 -2.85424516e-02 -1.00261096e+01] [-8.76890373e-02 -1.33687184e-03 9.96147000e-01 -8.55404454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.656296757 meters 0.06845219880651564 Centerline is valid? [True, True] Translation: X:72.20, Y:-10.04, Z:-8.56 [[ 9.37029117e-01 3.39214467e-01 8.31262849e-02 7.21975222e+01] [-3.38006408e-01 9.40708209e-01 -2.86309831e-02 -1.00385600e+01] [-8.79096222e-02 -1.26915220e-03 9.96127646e-01 -8.55792835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68629675700001 meters 0.06857672766759101 Centerline is valid? [True, True] Translation: X:72.23, Y:-10.05, Z:-8.56 [[ 9.37127638e-01 3.38985257e-01 8.29504963e-02 7.22268970e+01] [-3.37779630e-01 9.40790887e-01 -2.85907083e-02 -1.00510579e+01] [-8.77308996e-02 -1.22584505e-03 9.96143457e-01 -8.56284822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71629675700001 meters 0.06862696530388554 Centerline is valid? [True, True] Translation: X:72.26, Y:-10.06, Z:-8.57 [[ 9.36996024e-01 3.39260475e-01 8.33113518e-02 7.22564533e+01] [-3.38043377e-01 9.40691662e-01 -2.87379835e-02 -1.00619354e+01] [-8.81199559e-02 -1.23547444e-03 9.96109104e-01 -8.56618678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.746296757 meters 0.06860943377930645 Centerline is valid? [True, True] Translation: X:72.29, Y:-10.07, Z:-8.57 [[ 9.36514425e-01 3.40845691e-01 8.22492993e-02 7.22867609e+01] [-3.39663874e-01 9.40118289e-01 -2.83911159e-02 -1.00736132e+01] [-8.70010600e-02 -1.34842607e-03 9.96207306e-01 -8.56758390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.776296757 meters 0.06863330681602026 Centerline is valid? [True, True] Translation: X:72.32, Y:-10.08, Z:-8.57 [[ 9.36134718e-01 3.42272689e-01 8.06299956e-02 7.23168126e+01] [-3.41140542e-01 9.39599572e-01 -2.78527499e-02 -1.00842542e+01] [-8.52931449e-02 -1.43223421e-03 9.96354871e-01 -8.57029229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.806296757 meters 0.0694236331994281 Centerline is valid? [True, True] Translation: X:72.35, Y:-10.09, Z:-8.58 [[ 9.35169813e-01 3.45635979e-01 7.74156964e-02 7.23464826e+01] [-3.44602226e-01 9.38367225e-01 -2.67629839e-02 -1.00942773e+01] [-8.18946023e-02 -1.64968669e-03 9.96639630e-01 -8.57595228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.836296757 meters 0.06972524651232151 Centerline is valid? [True, True] Translation: X:72.38, Y:-10.10, Z:-8.58 [[ 9.34657884e-01 3.47167352e-01 7.67428862e-02 7.23770490e+01] [-3.46155222e-01 9.37801558e-01 -2.65480729e-02 -1.01044106e+01] [-8.11862224e-02 -1.75158523e-03 9.96697411e-01 -8.58025519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.866296757 meters 0.07014126874350703 Centerline is valid? [True, True] Translation: X:72.41, Y:-10.11, Z:-8.59 [[ 9.34119544e-01 3.48674236e-01 7.64653830e-02 7.24073710e+01] [-3.47672784e-01 9.37242141e-01 -2.64726948e-02 -1.01140224e+01] [-8.08969260e-02 -1.85627098e-03 9.96720744e-01 -8.58526684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.896296757 meters 0.07067716602996445 Centerline is valid? [True, True] Translation: X:72.44, Y:-10.12, Z:-8.59 [[ 9.33164591e-01 3.51529182e-01 7.50405226e-02 7.24371047e+01] [-3.50572318e-01 9.36174691e-01 -2.59999474e-02 -1.01233986e+01] [-7.93907783e-02 -2.04489965e-03 9.96841473e-01 -8.58967802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.926296757 meters 0.07111930764512087 Centerline is valid? [True, True] Translation: X:72.47, Y:-10.13, Z:-8.60 [[ 9.32057741e-01 3.54259964e-01 7.59489640e-02 7.24659996e+01] [-3.53287258e-01 9.35144185e-01 -2.63337601e-02 -1.01329598e+01] [-8.03522290e-02 -2.28721629e-03 9.96763908e-01 -8.59561017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.956296757 meters 0.07125727825344118 Centerline is valid? [True, True] Translation: X:72.50, Y:-10.14, Z:-8.60 [[ 9.31393328e-01 3.56030259e-01 7.58216554e-02 7.24957455e+01] [-3.55065154e-01 9.34471298e-01 -2.63083516e-02 -1.01431236e+01] [-8.02197300e-02 -2.41820456e-03 9.96774271e-01 -8.59880546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.986296757 meters 0.07142256046401675 Centerline is valid? [True, True] Translation: X:72.53, Y:-10.15, Z:-8.60 [[ 9.30996662e-01 3.57057382e-01 7.58633080e-02 7.25252898e+01] [-3.56093094e-01 9.34079132e-01 -2.63416823e-02 -1.01536970e+01] [-8.02678249e-02 -2.49038180e-03 9.96770221e-01 -8.60238978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.016296757 meters 0.07135746445490203 Centerline is valid? [True, True] Translation: X:72.55, Y:-10.17, Z:-8.61 [[ 9.30418616e-01 3.58152013e-01 7.77710456e-02 7.25548060e+01] [-3.57140443e-01 9.33659589e-01 -2.70273392e-02 -1.01665042e+01] [-8.22915783e-02 -2.62844613e-03 9.96604830e-01 -8.60542265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.04629675700001 meters 0.07157005402099323 Centerline is valid? [True, True] Translation: X:72.58, Y:-10.18, Z:-8.61 [[ 9.30577770e-01 3.57742769e-01 7.77504067e-02 7.25829690e+01] [-3.56729408e-01 9.33816603e-01 -2.70311239e-02 -1.01774981e+01] [-8.22748098e-02 -2.58129355e-03 9.96606338e-01 -8.61155150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.07629675700001 meters 0.07192142903797132 Centerline is valid? [True, True] Translation: X:72.61, Y:-10.19, Z:-8.62 [[ 9.30639129e-01 3.57816846e-01 7.66675684e-02 7.26130585e+01] [-3.56831148e-01 9.33788323e-01 -2.66626869e-02 -1.01884033e+01] [-8.11316387e-02 -2.54403670e-03 9.96700148e-01 -8.61644202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10629675700001 meters 0.07021386122682487 Centerline is valid? [True, True] Translation: X:72.64, Y:-10.21, Z:-8.61 [[ 9.31663761e-01 3.55339438e-01 7.57398221e-02 7.26406005e+01] [-3.54367839e-01 9.34734547e-01 -2.63583337e-02 -1.02081645e+01] [-8.01627838e-02 -2.28265276e-03 9.96779172e-01 -8.61458790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.136296757 meters 0.07021386122682487 Centerline is valid? [True, True] Translation: X:72.67, Y:-10.22, Z:-8.62 [[ 9.31560984e-01 3.55610140e-01 7.57334920e-02 7.26709702e+01] [-3.54637956e-01 9.34631585e-01 -2.63765061e-02 -1.02188287e+01] [-8.01626667e-02 -2.28664689e-03 9.96779172e-01 -8.61835073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.166296757 meters 0.07135134349158732 Centerline is valid? [True, True] Translation: X:72.70, Y:-10.23, Z:-8.63 [[ 9.32001907e-01 3.54330257e-01 7.63054040e-02 7.27002003e+01] [-3.53336832e-01 9.35117838e-01 -2.66028687e-02 -1.02263083e+01] [-8.07807457e-02 -2.16758537e-03 9.96729538e-01 -8.62780115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.196296757 meters 0.07025776016565073 Centerline is valid? [True, True] Translation: X:72.73, Y:-10.24, Z:-8.63 [[ 9.32564873e-01 3.52848984e-01 7.62912277e-02 7.27288293e+01] [-3.51849387e-01 9.35678103e-01 -2.66176020e-02 -1.02425057e+01] [-8.07760250e-02 -2.02038100e-03 9.96730230e-01 -8.62647588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.226296757 meters 0.06968880694228592 Centerline is valid? [True, True] Translation: X:72.76, Y:-10.26, Z:-8.63 [[ 9.33647490e-01 3.50059237e-01 7.59005633e-02 7.27575561e+01] [-3.49059021e-01 9.36725929e-01 -2.65015815e-02 -1.02575402e+01] [-8.03751491e-02 -1.75064130e-03 9.96763147e-01 -8.62824207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.256296757 meters 0.06936687759157734 Centerline is valid? [True, True] Translation: X:72.79, Y:-10.27, Z:-8.63 [[ 9.34667666e-01 3.47290101e-01 7.60653682e-02 7.27868849e+01] [-3.46274667e-01 9.37756551e-01 -2.65801912e-02 -1.02710529e+01] [-8.05618346e-02 -1.49586485e-03 9.96748490e-01 -8.63098309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.286296757 meters 0.06941732506682838 Centerline is valid? [True, True] Translation: X:72.82, Y:-10.28, Z:-8.64 [[ 9.35217064e-01 3.45661655e-01 7.67272001e-02 7.28161285e+01] [-3.44621217e-01 9.38358250e-01 -2.68330228e-02 -1.02818246e+01] [-8.12727483e-02 -1.34712026e-03 9.96690988e-01 -8.63566110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.316296757 meters 0.06908301308246362 Centerline is valid? [True, True] Translation: X:72.85, Y:-10.29, Z:-8.64 [[ 9.35588499e-01 3.44589251e-01 7.70221315e-02 7.28462928e+01] [-3.43534962e-01 9.38752750e-01 -2.69630047e-02 -1.02939803e+01] [-8.15958993e-02 -1.23351794e-03 9.96664732e-01 -8.63836670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.346296757 meters 0.06847496338445735 Centerline is valid? [True, True] Translation: X:72.87, Y:-10.31, Z:-8.64 [[ 9.36231336e-01 3.42118227e-01 8.01623656e-02 7.28732642e+01] [-3.40966501e-01 9.39656324e-01 -2.80684442e-02 -1.03074139e+01] [-8.49278002e-02 -1.05412429e-03 9.96386550e-01 -8.64127316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.376296757 meters 0.0681608336993074 Centerline is valid? [True, True] Translation: X:72.90, Y:-10.32, Z:-8.64 [[ 9.36475251e-01 3.41118748e-01 8.15604321e-02 7.29026653e+01] [-3.39921650e-01 9.40019712e-01 -2.85694306e-02 -1.03197989e+01] [-8.64139823e-02 -9.69591925e-04 9.96258844e-01 -8.64478896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.406296757 meters 0.0683236779823356 Centerline is valid? [True, True] Translation: X:72.93, Y:-10.33, Z:-8.65 [[ 9.36782206e-01 3.40678290e-01 7.98586328e-02 7.29327389e+01] [-3.39527344e-01 9.40179510e-01 -2.79941351e-02 -1.03310930e+01] [-8.46184443e-02 -8.89781878e-04 9.96413030e-01 -8.64975157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43629675700001 meters 0.06842392398287855 Centerline is valid? [True, True] Translation: X:72.96, Y:-10.34, Z:-8.66 [[ 9.36660481e-01 3.41191571e-01 7.90914346e-02 7.29627127e+01] [-3.40062725e-01 9.39993345e-01 -2.77462479e-02 -1.03409652e+01] [-8.38122081e-02 -9.07234931e-04 9.96481154e-01 -8.65508488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.46629675700001 meters 0.06895753500814185 Centerline is valid? [True, True] Translation: X:72.99, Y:-10.35, Z:-8.66 [[ 9.36105900e-01 3.43075473e-01 7.74917074e-02 7.29922933e+01] [-3.41996620e-01 9.39307271e-01 -2.72059126e-02 -1.03513548e+01] [-8.21222056e-02 -1.03428674e-03 9.96621730e-01 -8.65822701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.496296757 meters 0.06890303406347188 Centerline is valid? [True, True] Translation: X:73.02, Y:-10.36, Z:-8.66 [[ 9.35746916e-01 3.43917898e-01 7.80908985e-02 7.30222027e+01] [-3.42823583e-01 9.38999080e-01 -2.74357112e-02 -1.03621404e+01] [-8.27629140e-02 -1.09851949e-03 9.96568660e-01 -8.66193276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.526296757 meters 0.06911510397680087 Centerline is valid? [True, True] Translation: X:73.05, Y:-10.37, Z:-8.66 [[ 9.35179392e-01 3.45674033e-01 7.71295526e-02 7.30519045e+01] [-3.44610832e-01 9.38353865e-01 -2.71182262e-02 -1.03723716e+01] [-8.17488804e-02 -1.21927297e-03 9.96652213e-01 -8.66437349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.556296757 meters 0.06924064180720588 Centerline is valid? [True, True] Translation: X:73.08, Y:-10.38, Z:-8.67 [[ 9.33567602e-01 3.49844708e-01 7.78473665e-02 7.30821420e+01] [-3.48774281e-01 9.36806377e-01 -2.73918572e-02 -1.03814215e+01] [-8.25108056e-02 -1.57900876e-03 9.96588919e-01 -8.66770895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.586296757 meters 0.07019192741024957 Centerline is valid? [True, True] Translation: X:73.11, Y:-10.39, Z:-8.67 [[ 9.31589978e-01 3.55062797e-01 7.79135632e-02 7.31121137e+01] [-3.54006539e-01 9.34840275e-01 -2.74414212e-02 -1.03860975e+01] [-8.25801646e-02 -2.01775781e-03 9.96582382e-01 -8.67485252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.616296757 meters 0.0701700304856212 Centerline is valid? [True, True] Translation: X:73.14, Y:-10.40, Z:-8.68 [[ 9.30531796e-01 3.57783805e-01 7.81109845e-02 7.31422092e+01] [-3.56731382e-01 9.33801712e-01 -2.75151502e-02 -1.03961766e+01] [-8.27846462e-02 -2.26091731e-03 9.96564895e-01 -8.67699839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.646296757 meters 0.07138897612023562 Centerline is valid? [True, True] Translation: X:73.17, Y:-10.40, Z:-8.68 [[ 9.28614994e-01 3.62783232e-01 7.78621832e-02 7.31724744e+01] [-3.61753077e-01 9.31869716e-01 -2.74507604e-02 -1.04016676e+01] [-8.25160861e-02 -2.67569659e-03 9.96586141e-01 -8.68301953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.676296757 meters 0.07165631895925541 Centerline is valid? [True, True] Translation: X:73.20, Y:-10.41, Z:-8.69 [[ 9.27941546e-01 3.64614491e-01 7.73353734e-02 7.32028428e+01] [-3.63602860e-01 9.31154357e-01 -2.72859777e-02 -1.04121464e+01] [-8.19600327e-02 -2.79957063e-03 9.96631685e-01 -8.68713257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.706296757 meters 0.07223823984855926 Centerline is valid? [True, True] Translation: X:73.23, Y:-10.42, Z:-8.69 [[ 9.27326995e-01 3.66304695e-01 7.67171073e-02 7.32318469e+01] [-3.65314738e-01 9.30490370e-01 -2.70705275e-02 -1.04215468e+01] [-8.13005908e-02 -2.92265901e-03 9.96685343e-01 -8.69130410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.736296757 meters 0.07266814168026511 Centerline is valid? [True, True] Translation: X:73.26, Y:-10.43, Z:-8.70 [[ 9.26490570e-01 3.68410683e-01 7.67384704e-02 7.32613662e+01] [-3.67426425e-01 9.29657988e-01 -2.70896253e-02 -1.04324312e+01] [-8.13206393e-02 -3.09745946e-03 9.96683179e-01 -8.69521234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.766296757 meters 0.07292397330848076 Centerline is valid? [True, True] Translation: X:73.29, Y:-10.44, Z:-8.70 [[ 9.26159511e-01 3.69217510e-01 7.68569506e-02 7.32913247e+01] [-3.68231443e-01 9.29337652e-01 -2.71501895e-02 -1.04429900e+01] [-8.14503834e-02 -3.15573956e-03 9.96672402e-01 -8.69807482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79629675700001 meters 0.07265274409583966 Centerline is valid? [True, True] Translation: X:73.32, Y:-10.45, Z:-8.70 [[ 9.25920386e-01 3.69331358e-01 7.91567237e-02 7.33210919e+01] [-3.68283853e-01 9.29292122e-01 -2.79849109e-02 -1.04546502e+01] [-8.38954249e-02 -3.24034373e-03 9.96469296e-01 -8.69982264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82629675700001 meters 0.07301610707940294 Centerline is valid? [True, True] Translation: X:73.35, Y:-10.46, Z:-8.70 [[ 9.25519503e-01 3.69956765e-01 8.09051441e-02 7.33501801e+01] [-3.68862788e-01 9.29042937e-01 -2.86263008e-02 -1.04644134e+01] [-8.57548463e-02 -3.34869734e-03 9.96310641e-01 -8.70278122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85629675700001 meters 0.07254158899523527 Centerline is valid? [True, True] Translation: X:73.38, Y:-10.48, Z:-8.71 [[ 9.25481308e-01 3.70101343e-01 8.06805076e-02 7.33804724e+01] [-3.69012415e-01 9.28985398e-01 -2.85651588e-02 -1.04777752e+01] [-8.55230170e-02 -3.33558841e-03 9.96330611e-01 -8.70542496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.886296757 meters 0.07302576497658772 Centerline is valid? [True, True] Translation: X:73.41, Y:-10.49, Z:-8.71 [[ 9.25562340e-01 3.69954609e-01 8.04235230e-02 7.34105563e+01] [-3.68869824e-01 9.29044016e-01 -2.85003495e-02 -1.04883763e+01] [-8.52608284e-02 -3.28696057e-03 9.96353244e-01 -8.71031159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.916296757 meters 0.07258878239492719 Centerline is valid? [True, True] Translation: X:73.44, Y:-10.50, Z:-8.71 [[ 9.26115471e-01 3.68646494e-01 8.00618266e-02 7.34400026e+01] [-3.67564119e-01 9.29564412e-01 -2.84011099e-02 -1.05023981e+01] [-8.48925943e-02 -3.12514746e-03 9.96385207e-01 -8.71429938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.946296757 meters 0.07258965506445347 Centerline is valid? [True, True] Translation: X:73.47, Y:-10.51, Z:-8.72 [[ 9.26351980e-01 3.68188160e-01 7.94322814e-02 7.34709275e+01] [-3.67120791e-01 9.29746279e-01 -2.81812420e-02 -1.05139902e+01] [-8.42278677e-02 -3.05549259e-03 9.96441835e-01 -8.71853694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.976296757 meters 0.07248616923722438 Centerline is valid? [True, True] Translation: X:73.50, Y:-10.53, Z:-8.72 [[ 9.26859247e-01 3.66351400e-01 8.19669901e-02 7.35000565e+01] [-3.65204584e-01 9.30471897e-01 -2.91146073e-02 -1.05253007e+01] [-8.69341580e-02 -2.94957750e-03 9.96209693e-01 -8.72325405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.006296757 meters 0.07180277187924024 Centerline is valid? [True, True] Translation: X:73.53, Y:-10.54, Z:-8.72 [[ 9.27055346e-01 3.65528029e-01 8.34125075e-02 7.35280554e+01] [-3.64336818e-01 9.30795749e-01 -2.96303377e-02 -1.05389252e+01] [-8.84707263e-02 -2.92128461e-03 9.96074494e-01 -8.72365757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.036296757 meters 0.0714281343232146 Centerline is valid? [True, True] Translation: X:73.56, Y:-10.55, Z:-8.73 [[ 9.26749558e-01 3.65780450e-01 8.56733292e-02 7.35578578e+01] [-3.64522658e-01 9.30696318e-01 -3.04564571e-02 -1.05512692e+01] [-9.08762287e-02 -3.00436148e-03 9.95857663e-01 -8.72578294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.066296757 meters 0.07151499310907064 Centerline is valid? [True, True] Translation: X:73.59, Y:-10.56, Z:-8.73 [[ 9.26490929e-01 3.66181893e-01 8.67489499e-02 7.35876028e+01] [-3.64891674e-01 9.30538267e-01 -3.08642161e-02 -1.05600473e+01] [-9.20251346e-02 -3.05855336e-03 9.95751987e-01 -8.72933999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.096296757 meters 0.07206486288269177 Centerline is valid? [True, True] Translation: X:73.62, Y:-10.57, Z:-8.73 [[ 9.25461435e-01 3.68476189e-01 8.80138049e-02 7.36184144e+01] [-3.67156136e-01 9.29631283e-01 -3.13376658e-02 -1.05665774e+01] [-9.33675700e-02 -3.31300737e-03 9.95626195e-01 -8.73322597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.126296757 meters 0.07278134454749269 Centerline is valid? [True, True] Translation: X:73.65, Y:-10.57, Z:-8.74 [[ 9.23930955e-01 3.72427257e-01 8.74615834e-02 7.36493939e+01] [-3.71139280e-01 9.28054139e-01 -3.11632637e-02 -1.05726807e+01] [-9.27751334e-02 -3.66772516e-03 9.95680331e-01 -8.73724574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.156296757 meters 0.07264719729414758 Centerline is valid? [True, True] Translation: X:73.68, Y:-10.58, Z:-8.74 [[ 9.23237497e-01 3.74460066e-01 8.60940362e-02 7.36792403e+01] [-3.73218851e-01 9.27235297e-01 -3.06984328e-02 -1.05836039e+01] [-9.13247664e-02 -3.78997304e-03 9.95813950e-01 -8.74002554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18629675700001 meters 0.07321983343365905 Centerline is valid? [True, True] Translation: X:73.71, Y:-10.59, Z:-8.74 [[ 9.22404489e-01 3.76592463e-01 8.57209206e-02 7.37093946e+01] [-3.75369592e-01 9.26370539e-01 -3.05825758e-02 -1.05922378e+01] [-9.09265030e-02 -3.96752180e-03 9.95849702e-01 -8.74442379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21629675700001 meters 0.07415449685120175 Centerline is valid? [True, True] Translation: X:73.74, Y:-10.60, Z:-8.75 [[ 9.21118948e-01 3.79921158e-01 8.48516181e-02 7.37392656e+01] [-3.78734974e-01 9.25009197e-01 -3.02952953e-02 -1.05992223e+01] [-8.99983508e-02 -4.23070487e-03 9.95932928e-01 -8.74915563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.246296757 meters 0.07457054036203462 Centerline is valid? [True, True] Translation: X:73.77, Y:-10.61, Z:-8.75 [[ 9.20449980e-01 3.81648296e-01 8.43588325e-02 7.37699628e+01] [-3.80481417e-01 9.24297354e-01 -3.01378881e-02 -1.06083584e+01] [-8.94747193e-02 -4.35654965e-03 9.95979566e-01 -8.75335129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.276296757 meters 0.07584125684027596 Centerline is valid? [True, True] Translation: X:73.80, Y:-10.61, Z:-8.76 [[ 9.19324973e-01 3.84443572e-01 8.39329150e-02 7.38006541e+01] [-3.83297912e-01 9.23137118e-01 -3.00095439e-02 -1.06142321e+01] [-8.90185655e-02 -4.58278787e-03 9.96019424e-01 -8.75957758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.306296757 meters 0.0762242497365803 Centerline is valid? [True, True] Translation: X:73.83, Y:-10.62, Z:-8.76 [[ 9.18901196e-01 3.85676856e-01 8.29093167e-02 7.38308402e+01] [-3.84563807e-01 9.22622247e-01 -2.96457046e-02 -1.06240206e+01] [-8.79276422e-02 -4.64244912e-03 9.96116046e-01 -8.76342175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.336296757 meters 0.0760300264434887 Centerline is valid? [True, True] Translation: X:73.86, Y:-10.64, Z:-8.77 [[ 9.18739215e-01 3.86342876e-01 8.15931168e-02 7.38603048e+01] [-3.85265923e-01 9.22343698e-01 -2.91936969e-02 -1.06361099e+01] [-8.65356739e-02 -4.61365331e-03 9.96238070e-01 -8.76635236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.366296757 meters 0.07625677437817047 Centerline is valid? [True, True] Translation: X:73.89, Y:-10.65, Z:-8.77 [[ 9.18750982e-01 3.86288605e-01 8.17174786e-02 7.38902244e+01] [-3.85206139e-01 9.22366525e-01 -2.92613008e-02 -1.06472119e+01] [-8.66767739e-02 -4.59422565e-03 9.96225893e-01 -8.77086553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.396296757 meters 0.07582622009443057 Centerline is valid? [True, True] Translation: X:73.92, Y:-10.66, Z:-8.77 [[ 9.18836212e-01 3.86374216e-01 8.03428989e-02 7.39195385e+01] [-3.85326350e-01 9.22331112e-01 -2.87910409e-02 -1.06592146e+01] [-8.52268711e-02 -4.50398509e-03 9.96351391e-01 -8.77475259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.426296757 meters 0.07523036628430613 Centerline is valid? [True, True] Translation: X:73.95, Y:-10.67, Z:-8.78 [[ 9.19298062e-01 3.85484829e-01 7.93254087e-02 7.39494244e+01] [-3.84458218e-01 9.22703945e-01 -2.84483565e-02 -1.06716657e+01] [-8.41602774e-02 -4.34478627e-03 9.96442758e-01 -8.77794545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.456296757 meters 0.07552140755465442 Centerline is valid? [True, True] Translation: X:73.98, Y:-10.68, Z:-8.78 [[ 9.19821657e-01 3.84230527e-01 7.93411731e-02 7.39785839e+01] [-3.83196903e-01 9.23227590e-01 -2.84771866e-02 -1.06815550e+01] [-8.41917645e-02 -4.20935882e-03 9.96440680e-01 -8.78190794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.486296757 meters 0.07457646939017364 Centerline is valid? [True, True] Translation: X:74.01, Y:-10.70, Z:-8.78 [[ 9.20127380e-01 3.83344993e-01 8.00763402e-02 7.40075492e+01] [-3.82287024e-01 9.23595913e-01 -2.87614431e-02 -1.06953439e+01] [-8.49837358e-02 -4.14795452e-03 9.96373705e-01 -8.78376854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.516296757 meters 0.07410726980298388 Centerline is valid? [True, True] Translation: X:74.04, Y:-10.71, Z:-8.79 [[ 9.21061869e-01 3.80779858e-01 8.15581597e-02 7.40354009e+01] [-3.79670003e-01 9.24657245e-01 -2.93200812e-02 -1.07066463e+01] [-8.65778396e-02 -3.95957792e-03 9.96237220e-01 -8.78643209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.54629675700001 meters 0.07366761458720647 Centerline is valid? [True, True] Translation: X:74.06, Y:-10.72, Z:-8.79 [[ 9.21568297e-01 3.79374251e-01 8.23835639e-02 7.40648478e+01] [-3.78234578e-01 9.25235299e-01 -2.96351919e-02 -1.07189523e+01] [-8.74670101e-02 -3.84945924e-03 9.96159979e-01 -8.78908402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.57629675700001 meters 0.07279748756356427 Centerline is valid? [True, True] Translation: X:74.09, Y:-10.73, Z:-8.79 [[ 9.23098615e-01 3.75664096e-01 8.22522566e-02 7.40928669e+01] [-3.74513259e-01 9.26749319e-01 -2.95891481e-02 -1.07325382e+01] [-8.73428034e-02 -3.49085907e-03 9.96172198e-01 -8.79247523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.60629675700001 meters 0.07273934523935545 Centerline is valid? [True, True] Translation: X:74.12, Y:-10.74, Z:-8.80 [[ 9.23720858e-01 3.74167026e-01 8.20902788e-02 7.41217024e+01] [-3.73013185e-01 9.27355369e-01 -2.95496812e-02 -1.07436267e+01] [-8.71833771e-02 -3.32509946e-03 9.96186731e-01 -8.79709913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.636296757 meters 0.07227010497742846 Centerline is valid? [True, True] Translation: X:74.15, Y:-10.76, Z:-8.80 [[ 9.24393929e-01 3.72229483e-01 8.33131185e-02 7.41508756e+01] [-3.71030748e-01 9.28135333e-01 -3.00164587e-02 -1.07557127e+01] [-8.84988599e-02 -3.16469641e-03 9.96071251e-01 -8.80064305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.666296757 meters 0.07194204604676378 Centerline is valid? [True, True] Translation: X:74.18, Y:-10.77, Z:-8.80 [[ 9.25058041e-01 3.70266861e-01 8.46762735e-02 7.41798999e+01] [-3.69020232e-01 9.28920502e-01 -3.05084924e-02 -1.07660205e+01] [-8.99538102e-02 -3.02513191e-03 9.95941344e-01 -8.80465094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.696296757 meters 0.07202846876497772 Centerline is valid? [True, True] Translation: X:74.21, Y:-10.77, Z:-8.81 [[ 9.24518573e-01 3.70760013e-01 8.83313125e-02 7.42106259e+01] [-3.69403538e-01 9.28723238e-01 -3.18461047e-02 -1.07737326e+01] [-9.38426047e-02 -3.18758408e-03 9.95581943e-01 -8.80745077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.726296757 meters 0.07217520237099735 Centerline is valid? [True, True] Translation: X:74.24, Y:-10.78, Z:-8.81 [[ 9.23719540e-01 3.72862340e-01 8.78401206e-02 7.42407123e+01] [-3.71528188e-01 9.27880588e-01 -3.16925798e-02 -1.07834183e+01] [-9.33221122e-02 -3.36002559e-03 9.95630300e-01 -8.81032463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.756296757 meters 0.07358458680411499 Centerline is valid? [True, True] Translation: X:74.27, Y:-10.79, Z:-8.82 [[ 9.22240979e-01 3.76536234e-01 8.77042821e-02 7.42718924e+01] [-3.75220695e-01 9.26394481e-01 -3.16653579e-02 -1.07870763e+01] [-9.31719175e-02 -3.70537103e-03 9.95643141e-01 -8.81628813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.786296757 meters 0.07336113556585881 Centerline is valid? [True, True] Translation: X:74.30, Y:-10.80, Z:-8.82 [[ 9.21654209e-01 3.78285599e-01 8.63338020e-02 7.43017651e+01] [-3.77016449e-01 9.25681137e-01 -3.11934121e-02 -1.07974867e+01] [-9.17175906e-02 -3.79972398e-03 9.95777809e-01 -8.82005219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.816296757 meters 0.07420175724259524 Centerline is valid? [True, True] Translation: X:74.33, Y:-10.81, Z:-8.83 [[ 9.20895791e-01 3.80354625e-01 8.53305388e-02 7.43325168e+01] [-3.79122594e-01 9.24832296e-01 -3.08428909e-02 -1.08050897e+01] [-9.06476743e-02 -3.94764673e-03 9.95875201e-01 -8.82531995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.846296757 meters 0.07580189472353135 Centerline is valid? [True, True] Translation: X:74.36, Y:-10.81, Z:-8.83 [[ 9.19402664e-01 3.84478342e-01 8.29165067e-02 7.43627841e+01] [-3.83331368e-01 9.23124343e-01 -2.99751641e-02 -1.08087498e+01] [-8.80670472e-02 -4.22525224e-03 9.96105588e-01 -8.83182202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.876296757 meters 0.07624283145681417 Centerline is valid? [True, True] Translation: X:74.39, Y:-10.82, Z:-8.84 [[ 9.18338284e-01 3.86902328e-01 8.34349128e-02 7.43934739e+01] [-3.85749899e-01 9.22109842e-01 -3.01737572e-02 -1.08178708e+01] [-8.86104511e-02 -4.47529275e-03 9.96056303e-01 -8.83510090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.906296757 meters 0.07759700044891552 Centerline is valid? [True, True] Translation: X:74.42, Y:-10.82, Z:-8.84 [[ 9.17745049e-01 3.88260342e-01 8.36536419e-02 7.44237742e+01] [-3.87107267e-01 9.21538168e-01 -3.02550558e-02 -1.08240774e+01] [-8.88368622e-02 -4.61650503e-03 9.96035491e-01 -8.83996737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.93629675700001 meters 0.07843905238822049 Centerline is valid? [True, True] Translation: X:74.45, Y:-10.83, Z:-8.84 [[ 9.17149209e-01 3.89317994e-01 8.52574230e-02 7.44543738e+01] [-3.88122525e-01 9.21090973e-01 -3.08597527e-02 -1.08309637e+01] [-9.05440997e-02 -4.78732858e-03 9.95880940e-01 -8.84231413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96629675700001 meters 0.07873832284566544 Centerline is valid? [True, True] Translation: X:74.49, Y:-10.84, Z:-8.85 [[ 9.16797697e-01 3.89997226e-01 8.59310541e-02 7.44858183e+01] [-3.88784893e-01 9.20803076e-01 -3.11127499e-02 -1.08413445e+01] [-9.12594651e-02 -4.88459817e-03 9.95815169e-01 -8.84530773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.996296757 meters 0.0792852084715618 Centerline is valid? [True, True] Translation: X:74.52, Y:-10.85, Z:-8.85 [[ 9.16359624e-01 3.90956591e-01 8.62437505e-02 7.45161410e+01] [-3.89737155e-01 9.20395680e-01 -3.12528718e-02 -1.08507740e+01] [-9.15968916e-02 -4.97352406e-03 9.95783748e-01 -8.84993036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.026296757 meters 0.07675837593694655 Centerline is valid? [True, True] Translation: X:74.54, Y:-10.87, Z:-8.85 [[ 9.15920810e-01 3.92238166e-01 8.50781512e-02 7.45441385e+01] [-3.91054986e-01 9.19850045e-01 -3.08527449e-02 -1.08682552e+01] [-9.03607653e-02 -5.01156414e-03 9.95896489e-01 -8.84929852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.056296757 meters 0.07675837593694655 Centerline is valid? [True, True] Translation: X:74.57, Y:-10.88, Z:-8.85 [[ 9.15807647e-01 3.92503588e-01 8.50722494e-02 7.45743899e+01] [-3.91320043e-01 9.19736771e-01 -3.08690088e-02 -1.08793464e+01] [-9.03602728e-02 -5.02040194e-03 9.95896489e-01 -8.85306216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.086296757 meters 0.07696072602682151 Centerline is valid? [True, True] Translation: X:74.61, Y:-10.89, Z:-8.86 [[ 9.15265954e-01 3.93483934e-01 8.63633423e-02 7.46052559e+01] [-3.92265820e-01 9.19316962e-01 -3.13663744e-02 -1.08897707e+01] [-9.17374499e-02 -5.16881262e-03 9.95769815e-01 -8.85577345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.116296757 meters 0.07720839040843666 Centerline is valid? [True, True] Translation: X:74.64, Y:-10.90, Z:-8.86 [[ 9.15160991e-01 3.93549812e-01 8.71717010e-02 7.46359598e+01] [-3.92306290e-01 9.19288604e-01 -3.16896880e-02 -1.08993051e+01] [-9.26074221e-02 -5.19684040e-03 9.95689137e-01 -8.85835438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.146296757 meters 0.07594474842053714 Centerline is valid? [True, True] Translation: X:74.67, Y:-10.91, Z:-8.86 [[ 9.15035547e-01 3.93847488e-01 8.71441534e-02 7.46663173e+01] [-3.92603905e-01 9.19161074e-01 -3.17032272e-02 -1.09111798e+01] [-9.25857500e-02 -5.20355502e-03 9.95691118e-01 -8.86159169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.176296757 meters 0.07692130719214263 Centerline is valid? [True, True] Translation: X:74.70, Y:-10.92, Z:-8.87 [[ 9.15048453e-01 3.93961018e-01 8.64930310e-02 7.46970236e+01] [-3.92733792e-01 9.19112727e-01 -3.14954530e-02 -1.09186116e+01] [-9.19048263e-02 -5.14887044e-03 9.95754484e-01 -8.86705411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.206296757 meters 0.07747263660103135 Centerline is valid? [True, True] Translation: X:74.73, Y:-10.92, Z:-8.87 [[ 9.14919313e-01 3.94195575e-01 8.67899769e-02 7.47282015e+01] [-3.92958433e-01 9.19012061e-01 -3.16307055e-02 -1.09248678e+01] [-9.22297197e-02 -5.16531009e-03 9.95724359e-01 -8.87299911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.236296757 meters 0.07687866591191082 Centerline is valid? [True, True] Translation: X:74.76, Y:-10.94, Z:-8.88 [[ 9.14789961e-01 3.94180486e-01 8.82103842e-02 7.47579014e+01] [-3.92899826e-01 9.19018202e-01 -3.21756315e-02 -1.09361774e+01] [-9.37499548e-02 -5.22389993e-03 9.95582069e-01 -8.87562767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.266296757 meters 0.07719192949757964 Centerline is valid? [True, True] Translation: X:74.79, Y:-10.94, Z:-8.88 [[ 9.15062917e-01 3.93709417e-01 8.74800121e-02 7.47873765e+01] [-3.92445444e-01 9.19220751e-01 -3.19340706e-02 -1.09442151e+01] [-9.29861867e-02 -5.10944835e-03 9.95654289e-01 -8.87950169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.29629675700001 meters 0.0755833776224649 Centerline is valid? [True, True] Translation: X:74.82, Y:-10.96, Z:-8.88 [[ 9.15362132e-01 3.93318604e-01 8.60967066e-02 7.48170767e+01] [-3.92090764e-01 9.19388804e-01 -3.14493252e-02 -1.09593743e+01] [-9.15259528e-02 -4.97020210e-03 9.95790288e-01 -8.88145944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32629675700001 meters 0.07611799314655261 Centerline is valid? [True, True] Translation: X:74.85, Y:-10.96, Z:-8.89 [[ 9.16007665e-01 3.91806031e-01 8.61277659e-02 7.48471799e+01] [-3.90567594e-01 9.20035374e-01 -3.14938940e-02 -1.09645617e+01] [-9.15800889e-02 -4.79006597e-03 9.95786193e-01 -8.88590512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.35629675700001 meters 0.07526832771503705 Centerline is valid? [True, True] Translation: X:74.88, Y:-10.98, Z:-8.89 [[ 9.16207132e-01 3.91113332e-01 8.71484579e-02 7.48766231e+01] [-3.89841388e-01 9.20330167e-01 -3.18759317e-02 -1.09765368e+01] [-9.26724567e-02 -4.76911987e-03 9.95685227e-01 -8.88916086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.386296757 meters 0.07661453196145204 Centerline is valid? [True, True] Translation: X:74.91, Y:-10.98, Z:-8.89 [[ 9.16466417e-01 3.90762298e-01 8.59891440e-02 7.49084780e+01] [-3.89520285e-01 9.20479887e-01 -3.14757906e-02 -1.09822497e+01] [-9.14508298e-02 -4.64801086e-03 9.95798746e-01 -8.89425949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.416296757 meters 0.07548772325245572 Centerline is valid? [True, True] Translation: X:74.94, Y:-11.00, Z:-8.90 [[ 9.16681839e-01 3.90283319e-01 8.58681388e-02 7.49379188e+01] [-3.89040249e-01 9.20683472e-01 -3.14583606e-02 -1.09959076e+01] [-9.13350496e-02 -4.56885419e-03 9.95809738e-01 -8.89577045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.446296757 meters 0.07493774884454332 Centerline is valid? [True, True] Translation: X:74.97, Y:-11.01, Z:-8.90 [[ 9.16859513e-01 3.89958434e-01 8.54461948e-02 7.49674924e+01] [-3.88724007e-01 9.20821503e-01 -3.13273999e-02 -1.10075067e+01] [-9.08970773e-02 -4.49216268e-03 9.95850160e-01 -8.89761681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.476296757 meters 0.07498750072638778 Centerline is valid? [True, True] Translation: X:75.00, Y:-11.01, Z:-8.90 [[ 9.16698404e-01 3.90361764e-01 8.53330545e-02 7.49980546e+01] [-3.89130104e-01 9.20650538e-01 -3.13105278e-02 -1.10138403e+01] [-9.07843554e-02 -4.50334947e-03 9.95860392e-01 -8.90118153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.506296757 meters 0.07507589939908686 Centerline is valid? [True, True] Translation: X:75.03, Y:-11.02, Z:-8.91 [[ 9.16229801e-01 3.91513570e-01 8.50886367e-02 7.50290904e+01] [-3.90291935e-01 9.20160915e-01 -3.12425157e-02 -1.10203029e+01] [-9.05271067e-02 -4.58408479e-03 9.95883442e-01 -8.90656710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.536296757 meters 0.07558878453028868 Centerline is valid? [True, True] Translation: X:75.06, Y:-11.03, Z:-8.91 [[ 9.15994810e-01 3.92229152e-01 8.43196331e-02 7.50587676e+01] [-3.91030422e-01 9.19856086e-01 -3.09837168e-02 -1.10285511e+01] [-8.97146446e-02 -4.59061784e-03 9.95956931e-01 -8.91188748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.566296757 meters 0.07440662317456981 Centerline is valid? [True, True] Translation: X:75.09, Y:-11.04, Z:-8.91 [[ 9.15819112e-01 3.92850847e-01 8.33280689e-02 7.50879849e+01] [-3.91680935e-01 9.19590810e-01 -3.06396388e-02 -1.10422218e+01] [-8.86645344e-02 -4.57764919e-03 9.96051026e-01 -8.91441308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.596296757 meters 0.07635475630040434 Centerline is valid? [True, True] Translation: X:75.12, Y:-11.05, Z:-8.92 [[ 9.15099933e-01 3.94778414e-01 8.21103874e-02 7.51184623e+01] [-3.93647871e-01 9.18764495e-01 -3.02184597e-02 -1.10455897e+01] [-8.73697043e-02 -4.66966875e-03 9.96165011e-01 -8.92215338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.626296757 meters 0.07576943325494455 Centerline is valid? [True, True] Translation: X:75.15, Y:-11.06, Z:-8.92 [[ 9.14413163e-01 3.96500938e-01 8.14590345e-02 7.51483203e+01] [-3.95394154e-01 9.18021842e-01 -2.99893349e-02 -1.10559518e+01] [-8.66719723e-02 -4.78578350e-03 9.96225409e-01 -8.92343061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.656296757 meters 0.07474260506291067 Centerline is valid? [True, True] Translation: X:75.18, Y:-11.07, Z:-8.92 [[ 9.13924660e-01 3.97688058e-01 8.11537015e-02 7.51779628e+01] [-3.96593703e-01 9.17507738e-01 -2.98828655e-02 -1.10692740e+01] [-8.63432078e-02 -4.87435932e-03 9.96253528e-01 -8.92468109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68629675700001 meters 0.07648758666760208 Centerline is valid? [True, True] Translation: X:75.21, Y:-11.07, Z:-8.93 [[ 9.13223497e-01 3.99320879e-01 8.10288791e-02 7.52093483e+01] [-3.98234203e-01 9.16797604e-01 -2.98608826e-02 -1.10737334e+01] [-8.62111561e-02 -4.99881142e-03 9.96264347e-01 -8.93019656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71629675700001 meters 0.0775343843810158 Centerline is valid? [True, True] Translation: X:75.24, Y:-11.08, Z:-8.94 [[ 9.12502869e-01 4.01178076e-01 7.99666499e-02 7.52397121e+01] [-4.00124836e-01 9.15985971e-01 -2.94926470e-02 -1.10792891e+01] [-8.50801328e-02 -5.08451765e-03 9.96361139e-01 -8.93504809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.746296757 meters 0.07774823929469749 Centerline is valid? [True, True] Translation: X:75.27, Y:-11.09, Z:-8.94 [[ 9.12538975e-01 4.01245055e-01 7.92150519e-02 7.52700015e+01] [-4.00210858e-01 9.15956921e-01 -2.92265012e-02 -1.10896419e+01] [-8.42845641e-02 -5.03240239e-03 9.96429018e-01 -8.93893257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.776296757 meters 0.0758416016144102 Centerline is valid? [True, True] Translation: X:75.30, Y:-11.11, Z:-8.94 [[ 9.12680854e-01 4.01048638e-01 7.85725725e-02 7.52989447e+01] [-4.00028811e-01 9.16043358e-01 -2.90089039e-02 -1.11076001e+01] [-8.36098645e-02 -4.95542151e-03 9.96486244e-01 -8.93841893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.806296757 meters 0.07549590823546047 Centerline is valid? [True, True] Translation: X:75.33, Y:-11.12, Z:-8.94 [[ 9.12976295e-01 4.00225340e-01 7.93344990e-02 7.53277898e+01] [-3.99180131e-01 9.16403650e-01 -2.93184701e-02 -1.11201477e+01] [-8.44364191e-02 -4.90168747e-03 9.96416813e-01 -8.94033289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.836296757 meters 0.07525174559989392 Centerline is valid? [True, True] Translation: X:75.36, Y:-11.13, Z:-8.94 [[ 9.13655064e-01 3.98368490e-01 8.08515274e-02 7.53575469e+01] [-3.97273483e-01 9.17212911e-01 -2.99041047e-02 -1.11312661e+01] [-8.60709178e-02 -4.79813120e-03 9.96277459e-01 -8.94436470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.866296757 meters 0.07441113723563765 Centerline is valid? [True, True] Translation: X:75.39, Y:-11.14, Z:-8.95 [[ 9.13954986e-01 3.97454254e-01 8.19536366e-02 7.53866582e+01] [-3.96325513e-01 9.17609556e-01 -3.03115601e-02 -1.11423437e+01] [-8.72488986e-02 -4.77691558e-03 9.96175090e-01 -8.94737049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.896296757 meters 0.0738543377351647 Centerline is valid? [True, True] Translation: X:75.42, Y:-11.15, Z:-8.95 [[ 9.15233981e-01 3.94564074e-01 8.16452811e-02 7.54150625e+01] [-3.93430512e-01 9.18857584e-01 -3.02187535e-02 -1.11547698e+01] [-8.69436202e-02 -4.46451468e-03 9.96203230e-01 -8.95053899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.926296757 meters 0.07425502044376799 Centerline is valid? [True, True] Translation: X:75.44, Y:-11.17, Z:-8.96 [[ 9.15965213e-01 3.93051105e-01 8.07375788e-02 7.54438716e+01] [-3.91935441e-01 9.19506769e-01 -2.98983646e-02 -1.11657136e+01] [-8.59903355e-02 -4.25805666e-03 9.96286872e-01 -8.95529124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.956296757 meters 0.07279186848964475 Centerline is valid? [True, True] Translation: X:75.47, Y:-11.18, Z:-8.96 [[ 9.17774776e-01 3.88785256e-01 8.08423479e-02 7.54713095e+01] [-3.87648003e-01 9.21320401e-01 -2.99623779e-02 -1.11832620e+01] [-8.61306352e-02 -3.83966005e-03 9.96276453e-01 -8.95686593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.986296757 meters 0.07143628012504342 Centerline is valid? [True, True] Translation: X:75.50, Y:-11.20, Z:-8.96 [[ 9.19200333e-01 3.85452655e-01 8.06039608e-02 7.54994172e+01] [-3.84309046e-01 9.22720925e-01 -2.98772783e-02 -1.11974346e+01] [-8.58912375e-02 -3.51362710e-03 9.96298324e-01 -8.95815124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.016296757 meters 0.07126129177571648 Centerline is valid? [True, True] Translation: X:75.53, Y:-11.21, Z:-8.96 [[ 9.19660186e-01 3.84374374e-01 8.05076617e-02 7.55296801e+01] [-3.83227821e-01 9.23171076e-01 -2.98597011e-02 -1.12082823e+01] [-8.57996486e-02 -3.39199753e-03 9.96306637e-01 -8.96175624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.04629675700001 meters 0.07137687942723796 Centerline is valid? [True, True] Translation: X:75.56, Y:-11.22, Z:-8.97 [[ 9.20954327e-01 3.81305259e-01 8.03083222e-02 7.55586143e+01] [-3.80150298e-01 9.24444084e-01 -2.98142056e-02 -1.12175442e+01] [-8.56088667e-02 -3.07171103e-03 9.96324087e-01 -8.96747568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.07629675700001 meters 0.0712552063468092 Centerline is valid? [True, True] Translation: X:75.59, Y:-11.23, Z:-8.97 [[ 9.21595637e-01 3.79938151e-01 7.94259629e-02 7.55879919e+01] [-3.78803542e-01 9.25007304e-01 -2.94849827e-02 -1.12298417e+01] [-8.46720656e-02 -2.91360471e-03 9.96404613e-01 -8.97124392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10629675700001 meters 0.07089980945198905 Centerline is valid? [True, True] Translation: X:75.62, Y:-11.24, Z:-8.97 [[ 9.22087421e-01 3.78409584e-01 8.09998429e-02 7.56161071e+01] [-3.77221519e-01 9.25634006e-01 -3.00934162e-02 -1.12425634e+01] [-8.63638461e-02 -2.80612321e-03 9.96259711e-01 -8.97453451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.136296757 meters 0.0704699431976005 Centerline is valid? [True, True] Translation: X:75.64, Y:-11.26, Z:-8.98 [[ 9.22544573e-01 3.76928768e-01 8.26814058e-02 7.56431570e+01] [-3.75682965e-01 9.26238304e-01 -3.07394660e-02 -1.12563274e+01] [-8.81692741e-02 -2.70346813e-03 9.96101837e-01 -8.97552717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.166296757 meters 0.07002033131878561 Centerline is valid? [True, True] Translation: X:75.67, Y:-11.27, Z:-8.98 [[ 9.22598258e-01 3.76293366e-01 8.49456152e-02 7.56731738e+01] [-3.74973882e-01 9.26496639e-01 -3.16000855e-02 -1.12681454e+01] [-9.05927295e-02 -2.69820333e-03 9.95884369e-01 -8.97759071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.196296757 meters 0.07049548702942536 Centerline is valid? [True, True] Translation: X:75.70, Y:-11.27, Z:-8.98 [[ 9.22012198e-01 3.77969288e-01 8.38613383e-02 7.57041980e+01] [-3.76689838e-01 9.25813833e-01 -3.12011505e-02 -1.12706267e+01] [-8.94330637e-02 -2.82187259e-03 9.95988837e-01 -8.98456811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.226296757 meters 0.07157329836903982 Centerline is valid? [True, True] Translation: X:75.73, Y:-11.28, Z:-8.99 [[ 9.20972527e-01 3.80887324e-01 8.20636996e-02 7.57342665e+01] [-3.79672287e-01 9.24616521e-01 -3.05490358e-02 -1.12773031e+01] [-8.75131929e-02 -3.02248980e-03 9.96158775e-01 -8.98955609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.256296757 meters 0.071867270625821 Centerline is valid? [True, True] Translation: X:75.76, Y:-11.29, Z:-8.99 [[ 9.20486826e-01 3.82159608e-01 8.15967993e-02 7.57632738e+01] [-3.80962982e-01 9.24091062e-01 -3.03795248e-02 -1.12889030e+01] [-8.70127002e-02 -3.12140761e-03 9.96202312e-01 -8.99299554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.286296757 meters 0.07179693389728954 Centerline is valid? [True, True] Translation: X:75.79, Y:-11.30, Z:-9.00 [[ 9.20025593e-01 3.83473369e-01 8.06292961e-02 7.57927456e+01] [-3.82307981e-01 9.23546442e-01 -3.00429123e-02 -1.13023387e+01] [-8.59855563e-02 -3.18497521e-03 9.96291293e-01 -8.99522721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.316296757 meters 0.07216441200639583 Centerline is valid? [True, True] Translation: X:75.82, Y:-11.31, Z:-9.00 [[ 9.19024614e-01 3.86101200e-01 7.94960479e-02 7.58227565e+01] [-3.84977382e-01 9.22450260e-01 -2.96299330e-02 -1.13109633e+01] [-8.47713027e-02 -3.37354267e-03 9.96394724e-01 -9.00013749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.346296757 meters 0.07266750449562481 Centerline is valid? [True, True] Translation: X:75.85, Y:-11.32, Z:-9.01 [[ 9.18235223e-01 3.87986800e-01 7.94375055e-02 7.58529706e+01] [-3.86871016e-01 9.21658140e-01 -2.96157162e-02 -1.13176464e+01] [-8.47047305e-02 -3.53787471e-03 9.96399815e-01 -9.00550692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.376296757 meters 0.0736228057725041 Centerline is valid? [True, True] Translation: X:75.88, Y:-11.32, Z:-9.01 [[ 9.16380494e-01 3.92632816e-01 7.80145022e-02 7.58842930e+01] [-3.91572865e-01 9.19687092e-01 -2.90919961e-02 -1.13220400e+01] [-8.31714031e-02 -3.88902440e-03 9.96527668e-01 -9.01030217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.406296757 meters 0.07464250970493518 Centerline is valid? [True, True] Translation: X:75.91, Y:-11.33, Z:-9.01 [[ 9.14911211e-01 3.95459241e-01 8.09287565e-02 7.59144505e+01] [-3.94327684e-01 9.18473543e-01 -3.01997940e-02 -1.13297848e+01] [-8.62737094e-02 -4.28231904e-03 9.96262269e-01 -9.01339664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43629675700001 meters 0.0750884035193002 Centerline is valid? [True, True] Translation: X:75.95, Y:-11.34, Z:-9.02 [[ 9.14563957e-01 3.96166810e-01 8.13918135e-02 7.59453126e+01] [-3.95023344e-01 9.18168221e-01 -3.03920371e-02 -1.13405951e+01] [-8.67716930e-02 -4.35620468e-03 9.96218699e-01 -9.01614223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46629675700001 meters 0.0750022123378021 Centerline is valid? [True, True] Translation: X:75.98, Y:-11.35, Z:-9.02 [[ 9.14227132e-01 3.96918356e-01 8.15142348e-02 7.59750946e+01] [-3.95772117e-01 9.17843326e-01 -3.04640795e-02 -1.13526745e+01] [-8.69090487e-02 -4.40997330e-03 9.96206489e-01 -9.01838169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49629675700001 meters 0.07469260426668248 Centerline is valid? [True, True] Translation: X:76.01, Y:-11.36, Z:-9.02 [[ 9.14142719e-01 3.96795792e-01 8.30432894e-02 7.60050354e+01] [-3.95603529e-01 9.17896076e-01 -3.10586744e-02 -1.13632847e+01] [-8.85490608e-02 -4.46015732e-03 9.96061831e-01 -9.02104719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.526296757 meters 0.0741246437940542 Centerline is valid? [True, True] Translation: X:76.03, Y:-11.38, Z:-9.02 [[ 9.14134548e-01 3.97139496e-01 8.14754539e-02 7.60338750e+01] [-3.95991332e-01 9.17747770e-01 -3.04942113e-02 -1.13755891e+01] [-8.68843718e-02 -4.38776145e-03 9.96208740e-01 -9.02487645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.556296757 meters 0.07486220480449969 Centerline is valid? [True, True] Translation: X:76.06, Y:-11.38, Z:-9.03 [[ 9.14305986e-01 3.96671607e-01 8.18303099e-02 7.60640083e+01] [-3.95509725e-01 9.17950310e-01 -3.06477603e-02 -1.13837356e+01] [-8.72732547e-02 -4.34325265e-03 9.96174942e-01 -9.03069149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.586296757 meters 0.07490101746252488 Centerline is valid? [True, True] Translation: X:76.09, Y:-11.39, Z:-9.03 [[ 9.14288305e-01 3.96502780e-01 8.28398514e-02 7.60935401e+01] [-3.95309283e-01 9.18023169e-01 -3.10488804e-02 -1.13943062e+01] [-8.83598702e-02 -4.35973398e-03 9.96079076e-01 -9.03366086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.616296757 meters 0.07315827841957229 Centerline is valid? [True, True] Translation: X:76.12, Y:-11.41, Z:-9.03 [[ 9.14764270e-01 3.94513097e-01 8.69813014e-02 7.61211121e+01] [-3.93185815e-01 9.18880000e-01 -3.26260856e-02 -1.14106044e+01] [-9.27967963e-02 -4.35463648e-03 9.95675545e-01 -9.03247272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.646296757 meters 0.07290365187745246 Centerline is valid? [True, True] Translation: X:76.15, Y:-11.42, Z:-9.04 [[ 9.15084547e-01 3.93562956e-01 8.79117214e-02 7.61506877e+01] [-3.92200641e-01 9.19287685e-01 -3.29971116e-02 -1.14230193e+01] [-9.38026036e-02 -4.28388651e-03 9.95581599e-01 -9.03537301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.676296757 meters 0.07237585459738217 Centerline is valid? [True, True] Translation: X:76.18, Y:-11.44, Z:-9.04 [[ 9.16525513e-01 3.90263065e-01 8.76112111e-02 7.61779903e+01] [-3.88892492e-01 9.20695103e-01 -3.29113451e-02 -1.14353630e+01] [-9.35072954e-02 -3.90725474e-03 9.95610928e-01 -9.03901753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.706296757 meters 0.07258090618498357 Centerline is valid? [True, True] Translation: X:76.21, Y:-11.45, Z:-9.04 [[ 9.16882135e-01 3.89510825e-01 8.72265248e-02 7.62070239e+01] [-3.88148166e-01 9.21014022e-01 -3.27745799e-02 -1.14451712e+01] [-9.31029061e-02 -3.80638878e-03 9.95649215e-01 -9.04386008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.736296757 meters 0.07184532431388677 Centerline is valid? [True, True] Translation: X:76.24, Y:-11.46, Z:-9.05 [[ 9.17539365e-01 3.88071205e-01 8.67309237e-02 7.62362120e+01] [-3.86715658e-01 9.21622285e-01 -3.26092626e-02 -1.14578611e+01] [-9.25878679e-02 -3.61992403e-03 9.95697938e-01 -9.04653841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.766296757 meters 0.07179616849503699 Centerline is valid? [True, True] Translation: X:76.26, Y:-11.47, Z:-9.05 [[ 9.18078304e-01 3.86873964e-01 8.63757063e-02 7.62645349e+01] [-3.85521988e-01 9.22126102e-01 -3.24999714e-02 -1.14696894e+01] [-9.22226861e-02 -3.46221533e-03 9.95732388e-01 -9.04964215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79629675700001 meters 0.0712528720836899 Centerline is valid? [True, True] Translation: X:76.29, Y:-11.48, Z:-9.05 [[ 9.18177916e-01 3.86587417e-01 8.65995608e-02 7.62937780e+01] [-3.85225116e-01 9.22246419e-01 -3.26060257e-02 -1.14838492e+01] [-9.24712141e-02 -3.42219307e-03 9.95709477e-01 -9.05255029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82629675700001 meters 0.07183083823015676 Centerline is valid? [True, True] Translation: X:76.32, Y:-11.49, Z:-9.06 [[ 9.18030269e-01 3.87050791e-01 8.60936157e-02 7.63231034e+01] [-3.85704151e-01 9.22052032e-01 -3.24400728e-02 -1.14921291e+01] [-9.19387491e-02 -3.42569618e-03 9.95758772e-01 -9.05795870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85629675700001 meters 0.07151419282707853 Centerline is valid? [True, True] Translation: X:76.35, Y:-11.50, Z:-9.06 [[ 9.17368981e-01 3.88736698e-01 8.55449212e-02 7.63530334e+01] [-3.87412158e-01 9.21342060e-01 -3.22587670e-02 -1.15024205e+01] [-9.13563005e-02 -3.54795031e-03 9.95811949e-01 -9.06148653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.886296757 meters 0.07220441796174805 Centerline is valid? [True, True] Translation: X:76.38, Y:-11.51, Z:-9.07 [[ 9.16642757e-01 3.90472379e-01 8.54246816e-02 7.63829104e+01] [-3.89158547e-01 9.20607166e-01 -3.22191087e-02 -1.15109224e+01] [-9.12232461e-02 -3.71033235e-03 9.95823555e-01 -9.06578852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.916296757 meters 0.07213900992450187 Centerline is valid? [True, True] Translation: X:76.41, Y:-11.52, Z:-9.07 [[ 9.15318799e-01 3.93276229e-01 8.67485151e-02 7.64127827e+01] [-3.91931327e-01 9.19411545e-01 -3.27451581e-02 -1.15222146e+01] [-9.26354786e-02 -4.02720188e-03 9.95691945e-01 -9.06855676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.946296757 meters 0.07213900992450187 Centerline is valid? [True, True] Translation: X:76.44, Y:-11.53, Z:-9.07 [[ 9.15207750e-01 3.93534722e-01 8.67478919e-02 7.64428923e+01] [-3.92190820e-01 9.19300825e-01 -3.27468112e-02 -1.15336671e+01] [-9.26344158e-02 -4.05159147e-03 9.95691945e-01 -9.07231138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.976296757 meters 0.07285672662147306 Centerline is valid? [True, True] Translation: X:76.47, Y:-11.54, Z:-9.08 [[ 9.14556625e-01 3.95178899e-01 8.61383632e-02 7.64723252e+01] [-3.93858166e-01 9.18594765e-01 -3.25484773e-02 -1.15416581e+01] [-9.19887209e-02 -4.15887222e-03 9.95751364e-01 -9.07705298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.006296757 meters 0.0730553450291245 Centerline is valid? [True, True] Translation: X:76.50, Y:-11.55, Z:-9.08 [[ 9.13836429e-01 3.96850128e-01 8.60985268e-02 7.65026428e+01] [-3.95536789e-01 9.17873289e-01 -3.25465040e-02 -1.15519832e+01] [-9.19436222e-02 -4.31295378e-03 9.95754874e-01 -9.08190677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.036296757 meters 0.07364514290757483 Centerline is valid? [True, True] Translation: X:76.53, Y:-11.56, Z:-9.09 [[ 9.13257016e-01 3.98290725e-01 8.55927689e-02 7.65329261e+01] [-3.96998286e-01 9.17248566e-01 -3.23640233e-02 -1.15623511e+01] [-9.14001348e-02 -4.42351119e-03 9.95804423e-01 -9.08631104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.066296757 meters 0.07554965244441154 Centerline is valid? [True, True] Translation: X:76.56, Y:-11.57, Z:-9.09 [[ 9.11792320e-01 4.01430806e-01 8.65336595e-02 7.65630201e+01] [-4.00123340e-01 9.15876849e-01 -3.27247540e-02 -1.15682727e+01] [-9.23908998e-02 -4.78595749e-03 9.95711312e-01 -9.09139643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.096296757 meters 0.07391340389722822 Centerline is valid? [True, True] Translation: X:76.59, Y:-11.58, Z:-9.09 [[ 9.11277846e-01 4.02492047e-01 8.70220656e-02 7.65911512e+01] [-4.01173318e-01 9.15410320e-01 -3.29228783e-02 -1.15840495e+01] [-9.29120936e-02 -4.90904118e-03 9.95662214e-01 -9.09276855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.126296757 meters 0.07524365543949654 Centerline is valid? [True, True] Translation: X:76.62, Y:-11.59, Z:-9.10 [[ 9.10950176e-01 4.03167380e-01 8.73260606e-02 7.66211240e+01] [-4.01840076e-01 9.15112750e-01 -3.30636959e-02 -1.15915058e+01] [-9.32433951e-02 -4.97173124e-03 9.95630931e-01 -9.09624760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.156296757 meters 0.07499531826687275 Centerline is valid? [True, True] Translation: X:76.65, Y:-11.60, Z:-9.10 [[ 9.10958897e-01 4.03111629e-01 8.74922972e-02 7.66500928e+01] [-4.01776838e-01 9.15137404e-01 -3.31497133e-02 -1.16040175e+01] [-9.34305087e-02 -4.95435227e-03 9.95613476e-01 -9.09952517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18629675700001 meters 0.07419216347692598 Centerline is valid? [True, True] Translation: X:76.68, Y:-11.62, Z:-9.10 [[ 9.11581296e-01 4.01670076e-01 8.76395523e-02 7.66778294e+01] [-4.00321837e-01 9.15771907e-01 -3.32301136e-02 -1.16183071e+01] [-9.36053822e-02 -4.79207660e-03 9.95597845e-01 -9.10315759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21629675700001 meters 0.07421519689771632 Centerline is valid? [True, True] Translation: X:76.71, Y:-11.63, Z:-9.11 [[ 9.11705114e-01 4.01331659e-01 8.79015657e-02 7.67072259e+01] [-3.99971722e-01 9.15920477e-01 -3.33511717e-02 -1.16298300e+01] [-9.38957251e-02 -4.75170680e-03 9.95570698e-01 -9.10698880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24629675700001 meters 0.0743198182788641 Centerline is valid? [True, True] Translation: X:76.74, Y:-11.65, Z:-9.11 [[ 9.12191915e-01 4.00581869e-01 8.62558816e-02 7.67358169e+01] [-3.99266939e-01 9.16249601e-01 -3.27502771e-02 -1.16452492e+01] [-9.21510843e-02 -4.56458386e-03 9.95734574e-01 -9.11011619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.276296757 meters 0.07374854578705493 Centerline is valid? [True, True] Translation: X:76.76, Y:-11.66, Z:-9.11 [[ 9.12837372e-01 3.99231166e-01 8.56878504e-02 7.67647421e+01] [-3.97925426e-01 9.16839854e-01 -3.25582184e-02 -1.16588498e+01] [-9.15602917e-02 -4.37701581e-03 9.95789915e-01 -9.11356679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.306296757 meters 0.07401849120056786 Centerline is valid? [True, True] Translation: X:76.79, Y:-11.67, Z:-9.12 [[ 9.13759937e-01 3.96519277e-01 8.84038498e-02 7.67934011e+01] [-3.95114005e-01 9.18016740e-01 -3.36182812e-02 -1.16678387e+01] [-9.44865105e-02 -4.21056062e-03 9.95517238e-01 -9.11778186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.336296757 meters 0.07306645494890282 Centerline is valid? [True, True] Translation: X:76.82, Y:-11.68, Z:-9.12 [[ 9.14385902e-01 3.94351548e-01 9.15711626e-02 7.68211219e+01] [-3.92831245e-01 9.18950440e-01 -3.48382172e-02 -1.16847563e+01] [-9.78878651e-02 -4.11643923e-03 9.95188937e-01 -9.11888254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.366296757 meters 0.07300190689976904 Centerline is valid? [True, True] Translation: X:76.85, Y:-11.70, Z:-9.12 [[ 9.14981980e-01 3.93283832e-01 9.01986941e-02 7.68502315e+01] [-3.91802017e-01 9.19408731e-01 -3.43331370e-02 -1.16991554e+01] [-9.64321346e-02 -3.92582860e-03 9.95331820e-01 -9.12188062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.396296757 meters 0.07304179824473563 Centerline is valid? [True, True] Translation: X:76.88, Y:-11.71, Z:-9.13 [[ 9.15095929e-01 3.93081098e-01 8.99260315e-02 7.68792295e+01] [-3.91604860e-01 9.19495665e-01 -3.42542895e-02 -1.17118413e+01] [-9.61513098e-02 -3.86951009e-03 9.95359208e-01 -9.12641787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.426296757 meters 0.07343630860244597 Centerline is valid? [True, True] Translation: X:76.91, Y:-11.72, Z:-9.13 [[ 9.15083951e-01 3.93425257e-01 8.85320800e-02 7.69082899e+01] [-3.91993807e-01 9.19348660e-01 -3.37475543e-02 -1.17217720e+01] [-9.46689893e-02 -3.82218171e-03 9.95501468e-01 -9.13306747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.456296757 meters 0.07377635381408959 Centerline is valid? [True, True] Translation: X:76.94, Y:-11.73, Z:-9.14 [[ 9.14713082e-01 3.94183022e-01 8.89928207e-02 7.69382616e+01] [-3.92738032e-01 9.19023684e-01 -3.39456370e-02 -1.17313432e+01] [-9.51673037e-02 -3.90034695e-03 9.95453651e-01 -9.13787675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.486296757 meters 0.07390506095113243 Centerline is valid? [True, True] Translation: X:76.97, Y:-11.74, Z:-9.14 [[ 9.13823358e-01 3.96316964e-01 8.86551430e-02 7.69686369e+01] [-3.94890409e-01 9.18104678e-01 -3.38432601e-02 -1.17415868e+01] [-9.48073596e-02 -4.08230412e-03 9.95487267e-01 -9.14214228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.516296757 meters 0.07496477494387668 Centerline is valid? [True, True] Translation: X:77.00, Y:-11.75, Z:-9.15 [[ 9.13387078e-01 3.97182078e-01 8.92773335e-02 7.69985754e+01] [-3.95738299e-01 9.17730266e-01 -3.40933638e-02 -1.17499086e+01] [-9.54737841e-02 -4.19002213e-03 9.95423126e-01 -9.14714045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54629675700001 meters 0.07463510632176645 Centerline is valid? [True, True] Translation: X:77.03, Y:-11.77, Z:-9.15 [[ 9.12582327e-01 3.98849642e-01 9.00691922e-02 7.70271271e+01] [-3.97387043e-01 9.17005816e-01 -3.44074252e-02 -1.17655101e+01] [-9.63173624e-02 -4.39272184e-03 9.95340982e-01 -9.14763372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57629675700001 meters 0.07508758302674184 Centerline is valid? [True, True] Translation: X:77.06, Y:-11.78, Z:-9.15 [[ 9.12120140e-01 3.99952029e-01 8.98622528e-02 7.70567579e+01] [-3.98498857e-01 9.16525155e-01 -3.43555004e-02 -1.17757855e+01] [-9.61015673e-02 -4.47366122e-03 9.95361480e-01 -9.15157765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60629675700001 meters 0.07621441097958831 Centerline is valid? [True, True] Translation: X:77.09, Y:-11.78, Z:-9.16 [[ 9.11141114e-01 4.02865649e-01 8.67245042e-02 7.70869515e+01] [-4.01524569e-01 9.15247549e-01 -3.31654244e-02 -1.17835874e+01] [-9.27356001e-02 -4.60363746e-03 9.95680127e-01 -9.15799762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.636296757 meters 0.0768518158815811 Centerline is valid? [True, True] Translation: X:77.12, Y:-11.79, Z:-9.16 [[ 9.10683461e-01 4.04141223e-01 8.55891671e-02 7.71164514e+01] [-4.02838550e-01 9.14684783e-01 -3.27543969e-02 -1.17927400e+01] [-9.15245107e-02 -4.64972847e-03 9.95791968e-01 -9.16379332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.666296757 meters 0.07689640308789181 Centerline is valid? [True, True] Translation: X:77.15, Y:-11.80, Z:-9.17 [[ 9.10619118e-01 4.04541520e-01 8.43740535e-02 7.71454775e+01] [-4.03276666e-01 9.14507983e-01 -3.22967487e-02 -1.18047291e+01] [-9.02261213e-02 -4.61605016e-03 9.95910608e-01 -9.16919256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.696296757 meters 0.07594537177920481 Centerline is valid? [True, True] Translation: X:77.17, Y:-11.82, Z:-9.17 [[ 9.11286829e-01 4.02931246e-01 8.48688841e-02 7.71728415e+01] [-4.01641995e-01 9.15219397e-01 -3.25140563e-02 -1.18219233e+01] [-9.07745781e-02 -4.45727663e-03 9.95861491e-01 -9.17213100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.726296757 meters 0.0750965818733667 Centerline is valid? [True, True] Translation: X:77.20, Y:-11.84, Z:-9.18 [[ 9.13215048e-01 3.98325884e-01 8.58764595e-02 7.71985677e+01] [-3.96985327e-01 9.17235044e-01 -3.29017360e-02 -1.18389990e+01] [-9.18745112e-02 -4.04533395e-03 9.95762376e-01 -9.17525353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.756296757 meters 0.07457960519017519 Centerline is valid? [True, True] Translation: X:77.23, Y:-11.85, Z:-9.18 [[ 9.14456207e-01 3.95258024e-01 8.68385907e-02 7.72263228e+01] [-3.93871611e-01 9.18562435e-01 -3.32897390e-02 -1.18535683e+01] [-9.29247038e-02 -3.76124717e-03 9.95666035e-01 -9.17877189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.786296757 meters 0.07293913412403133 Centerline is valid? [True, True] Translation: X:77.25, Y:-11.87, Z:-9.18 [[ 9.17141073e-01 3.88494194e-01 8.90197366e-02 7.72530478e+01] [-3.87002986e-01 9.21445854e-01 -3.41500673e-02 -1.18726221e+01] [-9.52939701e-02 -3.13047453e-03 9.95444252e-01 -9.17990876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.816296757 meters 0.07222796613610152 Centerline is valid? [True, True] Translation: X:77.28, Y:-11.89, Z:-9.18 [[ 9.18306097e-01 3.85534232e-01 8.98736213e-02 7.72805155e+01] [-3.83999248e-01 9.22689155e-01 -3.44862454e-02 -1.18890148e+01] [-9.62210438e-02 -2.84247365e-03 9.95355932e-01 -9.18248169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.846296757 meters 0.07162300984356233 Centerline is valid? [True, True] Translation: X:77.31, Y:-11.91, Z:-9.19 [[ 9.20470159e-01 3.80506661e-01 8.91592266e-02 7.73062921e+01] [-3.78972276e-01 9.24775329e-01 -3.42140942e-02 -1.19068930e+01] [-9.54709439e-02 -2.29582229e-03 9.95429570e-01 -9.18641693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.876296757 meters 0.07147654938487989 Centerline is valid? [True, True] Translation: X:77.33, Y:-11.92, Z:-9.19 [[ 9.21479567e-01 3.78267246e-01 8.82569976e-02 7.73336211e+01] [-3.76751677e-01 9.25694223e-01 -3.38877588e-02 -1.19204433e+01] [-9.45176219e-02 -2.02409454e-03 9.95521131e-01 -9.19078227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.906296757 meters 0.07125001308429249 Centerline is valid? [True, True] Translation: X:77.36, Y:-11.94, Z:-9.19 [[ 9.22551295e-01 3.75708399e-01 8.79903777e-02 7.73617974e+01] [-3.74188344e-01 9.26736307e-01 -3.38068067e-02 -1.19357294e+01] [-9.42453790e-02 -1.73646044e-03 9.95547484e-01 -9.19456178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.93629675700001 meters 0.0710483347410705 Centerline is valid? [True, True] Translation: X:77.39, Y:-11.95, Z:-9.20 [[ 9.22846300e-01 3.74810455e-01 8.87233285e-02 7.73912293e+01] [-3.73258499e-01 9.27100019e-01 -3.41122866e-02 -1.19488739e+01] [-9.50410413e-02 -1.63633893e-03 9.95472010e-01 -9.19828096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.96629675700001 meters 0.07098828061748053 Centerline is valid? [True, True] Translation: X:77.42, Y:-11.96, Z:-9.20 [[ 9.23321953e-01 3.73663222e-01 8.86135838e-02 7.74207107e+01] [-3.72107527e-01 9.27563241e-01 -3.40943230e-02 -1.19619622e+01] [-9.49344975e-02 -1.49374461e-03 9.95482401e-01 -9.20173390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99629675700001 meters 0.07108501372243045 Centerline is valid? [True, True] Translation: X:77.45, Y:-11.97, Z:-9.21 [[ 9.23469321e-01 3.73306008e-01 8.85835081e-02 7.74487297e+01] [-3.71747352e-01 9.27707158e-01 -3.41077110e-02 -1.19736699e+01] [-9.49121679e-02 -1.43325988e-03 9.95484619e-01 -9.20581678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.026296757 meters 0.07092130670257886 Centerline is valid? [True, True] Translation: X:77.48, Y:-11.99, Z:-9.21 [[ 9.23443385e-01 3.73269814e-01 8.90054013e-02 7.74777104e+01] [-3.71693931e-01 9.27721748e-01 -3.42925497e-02 -1.19886677e+01] [-9.53726201e-02 -1.41553935e-03 9.95440636e-01 -9.20709252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.056296757 meters 0.07087640198929968 Centerline is valid? [True, True] Translation: X:77.51, Y:-12.00, Z:-9.21 [[ 9.23179951e-01 3.73890486e-01 8.91329516e-02 7.75069062e+01] [-3.72310559e-01 9.27471712e-01 -3.43667096e-02 -1.19993254e+01] [-9.55176769e-02 -1.45848179e-03 9.95426665e-01 -9.21165414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.086296757 meters 0.07122166786192871 Centerline is valid? [True, True] Translation: X:77.54, Y:-12.01, Z:-9.22 [[ 9.22358706e-01 3.76105116e-01 8.83139782e-02 7.75365926e+01] [-3.74561795e-01 9.26575537e-01 -3.40769169e-02 -1.20059862e+01] [-9.46460746e-02 -1.64790112e-03 9.95509621e-01 -9.21715180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.116296757 meters 0.07136457793199054 Centerline is valid? [True, True] Translation: X:77.57, Y:-12.02, Z:-9.22 [[ 9.21576996e-01 3.78265403e-01 8.72417626e-02 7.75669672e+01] [-3.76767683e-01 9.25695373e-01 -3.36777266e-02 -1.20156846e+01] [-9.34984148e-02 -1.83325866e-03 9.95617741e-01 -9.22049155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.146296757 meters 0.07204089382075128 Centerline is valid? [True, True] Translation: X:77.60, Y:-12.02, Z:-9.23 [[ 9.19725677e-01 3.82871340e-01 8.66845807e-02 7.75975333e+01] [-3.81410714e-01 9.23798905e-01 -3.34880535e-02 -1.20208317e+01] [-9.29007367e-02 -2.26260512e-03 9.95672805e-01 -9.22567025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.176296757 meters 0.07238865181344825 Centerline is valid? [True, True] Translation: X:77.63, Y:-12.03, Z:-9.23 [[ 9.18663142e-01 3.85430168e-01 8.66118731e-02 7.76274857e+01] [-3.83981638e-01 9.22733615e-01 -3.34780230e-02 -1.20306330e+01] [-9.28231268e-02 -2.50234312e-03 9.95679469e-01 -9.22847253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.206296757 meters 0.07250617983272624 Centerline is valid? [True, True] Translation: X:77.66, Y:-12.04, Z:-9.23 [[ 9.17570690e-01 3.87995953e-01 8.67361990e-02 7.76579765e+01] [-3.86552638e-01 9.21656987e-01 -3.35478248e-02 -1.20402101e+01] [-9.29574442e-02 -2.74560572e-03 9.95666297e-01 -9.23146632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.236296757 meters 0.0733624154992548 Centerline is valid? [True, True] Translation: X:77.69, Y:-12.05, Z:-9.23 [[ 9.15456730e-01 3.93190379e-01 8.56755550e-02 7.76898376e+01] [-3.91802653e-01 9.19451478e-01 -3.31611373e-02 -1.20457048e+01] [-9.18131558e-02 -3.21032347e-03 9.95771077e-01 -9.23421423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.266296757 meters 0.07448254605937715 Centerline is valid? [True, True] Translation: X:77.72, Y:-12.05, Z:-9.24 [[ 9.13577493e-01 3.97583812e-01 8.54592088e-02 7.77213885e+01] [-3.96220204e-01 9.17558714e-01 -3.30991922e-02 -1.20487106e+01] [-9.15735447e-02 -3.62198810e-03 9.95791729e-01 -9.23877553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.29629675700001 meters 0.07457712325122984 Centerline is valid? [True, True] Translation: X:77.75, Y:-12.06, Z:-9.24 [[ 9.12864285e-01 3.99177436e-01 8.56514568e-02 7.77523041e+01] [-3.97812766e-01 9.16865939e-01 -3.31941649e-02 -1.20579854e+01] [-9.17812650e-02 -3.77147532e-03 9.95772050e-01 -9.24250163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.32629675700001 meters 0.07513083608692557 Centerline is valid? [True, True] Translation: X:77.78, Y:-12.07, Z:-9.25 [[ 9.12170388e-01 4.01012883e-01 8.44621225e-02 7.77825144e+01] [-3.99691261e-01 9.16064216e-01 -3.27604829e-02 -1.20677330e+01] [-9.05101037e-02 -3.87562975e-03 9.95887996e-01 -9.24758160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35629675700001 meters 0.07452859836382617 Centerline is valid? [True, True] Translation: X:77.81, Y:-12.08, Z:-9.25 [[ 9.11861181e-01 4.01886519e-01 8.36445640e-02 7.78113224e+01] [-4.00593921e-01 9.15681081e-01 -3.24448547e-02 -1.20820068e+01] [-8.96308945e-02 -3.92230036e-03 9.95967328e-01 -9.25011954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.386296757 meters 0.07636428065570752 Centerline is valid? [True, True] Translation: X:77.84, Y:-12.09, Z:-9.26 [[ 9.11391609e-01 4.02983017e-01 8.34866638e-02 7.78419312e+01] [-4.01697718e-01 9.15198714e-01 -3.24076867e-02 -1.20867521e+01] [-8.94666346e-02 -4.00030857e-03 9.95981786e-01 -9.25655185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.416296757 meters 0.07584968319888678 Centerline is valid? [True, True] Translation: X:77.87, Y:-12.10, Z:-9.26 [[ 9.11145051e-01 4.03449755e-01 8.39225329e-02 7.78730190e+01] [-4.02151073e-01 9.14992845e-01 -3.25976712e-02 -1.20975940e+01] [-8.99400396e-02 -4.04832992e-03 9.95938954e-01 -9.25963234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.446296757 meters 0.07502163723463737 Centerline is valid? [True, True] Translation: X:77.90, Y:-12.11, Z:-9.26 [[ 9.11108159e-01 4.03609438e-01 8.35544443e-02 7.79027368e+01] [-4.02320537e-01 9.14922531e-01 -3.24799589e-02 -1.21116280e+01] [-8.95550616e-02 -4.02291335e-03 9.95973748e-01 -9.26216282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.476296757 meters 0.07467470014733395 Centerline is valid? [True, True] Translation: X:77.93, Y:-12.12, Z:-9.27 [[ 9.12141369e-01 4.01419874e-01 8.28263711e-02 7.79305411e+01] [-4.00141817e-01 9.15886476e-01 -3.22255950e-02 -1.21235115e+01] [-8.87955474e-02 -3.74799627e-03 9.96042822e-01 -9.26543114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.506296757 meters 0.07441601712174925 Centerline is valid? [True, True] Translation: X:77.96, Y:-12.14, Z:-9.27 [[ 9.12939704e-01 3.99803816e-01 8.18413404e-02 7.79599904e+01] [-3.98547844e-01 9.16593939e-01 -3.18616901e-02 -1.21370426e+01] [-8.77537019e-02 -3.52988786e-03 9.96135948e-01 -9.26872109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.536296757 meters 0.07343956685948234 Centerline is valid? [True, True] Translation: X:77.99, Y:-12.15, Z:-9.27 [[ 9.14817468e-01 3.95173910e-01 8.33461522e-02 7.79868917e+01] [-3.93851106e-01 9.18600984e-01 -3.24582649e-02 -1.21519270e+01] [-8.93885168e-02 -3.13258651e-03 9.95991908e-01 -9.27131643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.566296757 meters 0.07286117667398116 Centerline is valid? [True, True] Translation: X:78.02, Y:-12.17, Z:-9.27 [[ 9.15779937e-01 3.92906104e-01 8.34979133e-02 7.80151650e+01] [-3.91567420e-01 9.19574024e-01 -3.25356658e-02 -1.21661877e+01] [-8.95659738e-02 -2.89955252e-03 9.95976671e-01 -9.27417481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.596296757 meters 0.071819189971341 Centerline is valid? [True, True] Translation: X:78.04, Y:-12.18, Z:-9.28 [[ 9.17281944e-01 3.88832776e-01 8.60401452e-02 7.80425744e+01] [-3.87391257e-01 9.21304797e-01 -3.35482457e-02 -1.21799694e+01] [-9.23138560e-02 -2.55799996e-03 9.95726674e-01 -9.27708062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.626296757 meters 0.07125717196085139 Centerline is valid? [True, True] Translation: X:78.07, Y:-12.19, Z:-9.28 [[ 9.17917476e-01 3.87031637e-01 8.73728698e-02 7.80716841e+01] [-3.85534712e-01 9.22063332e-01 -3.40910342e-02 -1.21929731e+01] [-9.37576282e-02 -2.39251803e-03 9.95592177e-01 -9.28026111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.656296757 meters 0.07098514324588674 Centerline is valid? [True, True] Translation: X:78.10, Y:-12.20, Z:-9.28 [[ 9.18879984e-01 3.84537193e-01 8.82650708e-02 7.81001088e+01] [-3.82997455e-01 9.23106984e-01 -3.44448116e-02 -1.22030032e+01] [-9.47234145e-02 -2.15464951e-03 9.95501297e-01 -9.28322454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68629675700001 meters 0.07085316921817644 Centerline is valid? [True, True] Translation: X:78.13, Y:-12.22, Z:-9.29 [[ 9.19662558e-01 3.82701799e-01 8.80914975e-02 7.81297843e+01] [-3.81158954e-01 9.23869858e-01 -3.43851392e-02 -1.22153289e+01] [-9.45443339e-02 -1.95413793e-03 9.95518734e-01 -9.28797876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71629675700001 meters 0.07081167405672675 Centerline is valid? [True, True] Translation: X:78.16, Y:-12.23, Z:-9.29 [[ 9.20598143e-01 3.80401626e-01 8.82817146e-02 7.81588618e+01] [-3.78839330e-01 9.24819827e-01 -3.44825960e-02 -1.22289512e+01] [-9.47619157e-02 -1.69997172e-03 9.95498513e-01 -9.29310281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74629675700001 meters 0.07075955281568755 Centerline is valid? [True, True] Translation: X:78.19, Y:-12.24, Z:-9.30 [[ 9.20690721e-01 3.80164669e-01 8.83369696e-02 7.81881885e+01] [-3.78597139e-01 9.24917339e-01 -3.45271218e-02 -1.22412977e+01] [-9.48303867e-02 -1.65532330e-03 9.95492068e-01 -9.29629177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.776296757 meters 0.07062240604417035 Centerline is valid? [True, True] Translation: X:78.22, Y:-12.25, Z:-9.30 [[ 9.20534145e-01 3.80543552e-01 8.83373838e-02 7.82188453e+01] [-3.78975597e-01 9.24761485e-01 -3.45498498e-02 -1.22519774e+01] [-9.48387328e-02 -1.67339633e-03 9.95491243e-01 -9.29883884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.806296757 meters 0.0708857702965906 Centerline is valid? [True, True] Translation: X:78.25, Y:-12.26, Z:-9.30 [[ 9.19979364e-01 3.81727851e-01 8.90045887e-02 7.82496212e+01] [-3.80138901e-01 9.24273049e-01 -3.48388756e-02 -1.22600475e+01] [-9.55635117e-02 -1.78305995e-03 9.95421738e-01 -9.30491679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.836296757 meters 0.07051271187531616 Centerline is valid? [True, True] Translation: X:78.28, Y:-12.27, Z:-9.31 [[ 9.18805676e-01 3.84817260e-01 8.78168828e-02 7.82805006e+01] [-3.83281834e-01 9.22990508e-01 -3.44028839e-02 -1.22696090e+01] [-9.42929728e-02 -2.04905089e-03 9.95542383e-01 -9.30510391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.866296757 meters 0.07051271187531616 Centerline is valid? [True, True] Translation: X:78.31, Y:-12.28, Z:-9.31 [[ 9.18699416e-01 3.85071049e-01 8.78161163e-02 7.83104382e+01] [-3.83536592e-01 9.22884603e-01 -3.44048423e-02 -1.22814296e+01] [-9.42924503e-02 -2.07298537e-03 9.95542383e-01 -9.30885541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.896296757 meters 0.07083572031163837 Centerline is valid? [True, True] Translation: X:78.34, Y:-12.29, Z:-9.31 [[ 9.17906208e-01 3.87253020e-01 8.65060247e-02 7.83411870e+01] [-3.85770734e-01 9.21970777e-01 -3.39238345e-02 -1.22909966e+01] [-9.28931341e-02 -2.23259438e-03 9.95673582e-01 -9.31291802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.926296757 meters 0.07151227169388934 Centerline is valid? [True, True] Translation: X:78.37, Y:-12.30, Z:-9.32 [[ 9.16137215e-01 3.91920201e-01 8.42090235e-02 7.83723665e+01] [-3.90534812e-01 9.19995463e-01 -3.30289061e-02 -1.22969578e+01] [-9.04166151e-02 -2.62754521e-03 9.95900563e-01 -9.31819731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.956296757 meters 0.0722624612416565 Centerline is valid? [True, True] Translation: X:78.40, Y:-12.31, Z:-9.32 [[ 9.14735235e-01 3.95346317e-01 8.34310491e-02 7.84028540e+01] [-3.93999693e-01 9.18527470e-01 -3.27342205e-02 -1.23058421e+01] [-8.95750640e-02 -2.92866291e-03 9.95975768e-01 -9.32287122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.986296757 meters 0.07320220586356685 Centerline is valid? [True, True] Translation: X:78.43, Y:-12.31, Z:-9.33 [[ 9.12630085e-01 4.00111623e-01 8.37676369e-02 7.84321568e+01] [-3.98773729e-01 9.16460084e-01 -3.28698480e-02 -1.23143055e+01] [-8.99213039e-02 -3.40632073e-03 9.95943049e-01 -9.32724028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.016296757 meters 0.07364649152091313 Centerline is valid? [True, True] Translation: X:78.46, Y:-12.33, Z:-9.33 [[ 9.11813405e-01 4.01928316e-01 8.39639451e-02 7.84621258e+01] [-4.00590572e-01 9.15664132e-01 -3.29604416e-02 -1.23251044e+01] [-9.01305077e-02 -3.58139233e-03 9.95923524e-01 -9.33118541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04629675700001 meters 0.07421106007308591 Centerline is valid? [True, True] Translation: X:78.49, Y:-12.33, Z:-9.34 [[ 9.10432225e-01 4.05175231e-01 8.33438397e-02 7.84913220e+01] [-4.03868602e-01 9.14230931e-01 -3.27407427e-02 -1.23337958e+01] [-8.94612541e-02 -3.85173284e-03 9.95982855e-01 -9.33765136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.07629675700001 meters 0.07434970725325432 Centerline is valid? [True, True] Translation: X:78.52, Y:-12.34, Z:-9.34 [[ 9.10245796e-01 4.05600712e-01 8.33105836e-02 7.85218750e+01] [-4.04295150e-01 9.14042151e-01 -3.27471782e-02 -1.23446190e+01] [-8.94316639e-02 -3.87408354e-03 9.95985426e-01 -9.34291014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.10629675700001 meters 0.07438620603674376 Centerline is valid? [True, True] Translation: X:78.55, Y:-12.36, Z:-9.35 [[ 9.10511043e-01 4.04823927e-01 8.41856824e-02 7.85503548e+01] [-4.03484920e-01 9.14386709e-01 -3.31189682e-02 -1.23589373e+01] [-9.03856198e-02 -3.81246714e-03 9.95899546e-01 -9.34698605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.136296757 meters 0.07323639515272595 Centerline is valid? [True, True] Translation: X:78.58, Y:-12.38, Z:-9.35 [[ 9.10718240e-01 4.04314371e-01 8.43929889e-02 7.85780575e+01] [-4.02964492e-01 9.14612391e-01 -3.32233757e-02 -1.23766477e+01] [-9.06195616e-02 -3.75024369e-03 9.95878522e-01 -9.34769095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.166296757 meters 0.07387089577456295 Centerline is valid? [True, True] Translation: X:78.61, Y:-12.39, Z:-9.35 [[ 9.12050520e-01 4.01544364e-01 8.32224306e-02 7.86054853e+01] [-4.00217989e-01 9.15833250e-01 -3.27874943e-02 -1.23895833e+01] [-8.93835026e-02 -3.40326257e-03 9.95991469e-01 -9.35294010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.196296757 meters 0.07355348677989314 Centerline is valid? [True, True] Translation: X:78.63, Y:-12.40, Z:-9.36 [[ 9.12933986e-01 3.99379605e-01 8.39491978e-02 7.86332046e+01] [-3.98019120e-01 9.16780059e-01 -3.30923503e-02 -1.24032779e+01] [-9.01793604e-02 -3.20225453e-03 9.95920393e-01 -9.35670078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.226296757 meters 0.073305470195697 Centerline is valid? [True, True] Translation: X:78.66, Y:-12.42, Z:-9.36 [[ 9.14418841e-01 3.95981310e-01 8.38867437e-02 7.86601394e+01] [-3.94606834e-01 9.18254157e-01 -3.30869876e-02 -1.24175398e+01] [-9.01311798e-02 -2.84691750e-03 9.95925833e-01 -9.36123689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.256296757 meters 0.07258974997897645 Centerline is valid? [True, True] Translation: X:78.69, Y:-12.43, Z:-9.36 [[ 9.14744100e-01 3.95097782e-01 8.45042805e-02 7.86883395e+01] [-3.93697541e-01 9.18634914e-01 -3.33487788e-02 -1.24335138e+01] [-9.08046110e-02 -2.76352871e-03 9.95864893e-01 -9.36256873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.286296757 meters 0.07218589644531617 Centerline is valid? [True, True] Translation: X:78.72, Y:-12.45, Z:-9.36 [[ 9.15395865e-01 3.93479781e-01 8.49945456e-02 7.87170320e+01] [-3.92053827e-01 9.19329612e-01 -3.35687615e-02 -1.24498470e+01] [-9.13466315e-02 -2.59373149e-03 9.95815779e-01 -9.36471226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.316296757 meters 0.07167787840437549 Centerline is valid? [True, True] Translation: X:78.75, Y:-12.46, Z:-9.37 [[ 9.15713217e-01 3.92682912e-01 8.52609767e-02 7.87464268e+01] [-3.91243259e-01 9.19670503e-01 -3.36879510e-02 -1.24640963e+01] [-9.16406880e-02 -2.50928036e-03 9.95788978e-01 -9.36655965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.346296757 meters 0.07190321335174187 Centerline is valid? [True, True] Translation: X:78.78, Y:-12.47, Z:-9.37 [[ 9.15342367e-01 3.93049589e-01 8.75235482e-02 7.87761458e+01] [-3.91533295e-01 9.19513581e-01 -3.45897908e-02 -1.24734821e+01] [-9.40745943e-02 -2.60688228e-03 9.95561738e-01 -9.37135889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.376296757 meters 0.07182064195156258 Centerline is valid? [True, True] Translation: X:78.81, Y:-12.49, Z:-9.37 [[ 9.14995814e-01 3.93957115e-01 8.70657919e-02 7.88059277e+01] [-3.92459691e-01 9.19124928e-01 -3.44203026e-02 -1.24850687e+01] [-9.35844628e-02 -2.67538095e-03 9.95607749e-01 -9.37440947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.406296757 meters 0.07242598203605051 Centerline is valid? [True, True] Translation: X:78.84, Y:-12.49, Z:-9.38 [[ 9.14338520e-01 3.96184442e-01 8.38030896e-02 7.88350708e+01] [-3.94804353e-01 9.18166768e-01 -3.31558234e-02 -1.24939331e+01] [-9.00810333e-02 -2.77017807e-03 9.95930587e-01 -9.38020956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.43629675700001 meters 0.0725396959322263 Centerline is valid? [True, True] Translation: X:78.86, Y:-12.51, Z:-9.38 [[ 9.13965411e-01 3.97488800e-01 8.16693470e-02 7.88638053e+01] [-3.96182738e-01 9.17602700e-01 -3.23190645e-02 -1.25069514e+01] [-8.77864795e-02 -2.81747849e-03 9.96135330e-01 -9.38306614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.46629675700001 meters 0.07300798055732272 Centerline is valid? [True, True] Translation: X:78.89, Y:-12.52, Z:-9.39 [[ 9.13703983e-01 3.98333966e-01 8.04679002e-02 7.88917752e+01] [-3.97067375e-01 9.17236075e-01 -3.18666384e-02 -1.25187395e+01] [-8.65016255e-02 -2.83450343e-03 9.96247677e-01 -9.38745763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.49629675700001 meters 0.07314027151471089 Centerline is valid? [True, True] Translation: X:78.92, Y:-12.53, Z:-9.39 [[ 9.13321815e-01 3.99166322e-01 8.06815323e-02 7.89211687e+01] [-3.97895312e-01 9.16873912e-01 -3.19616934e-02 -1.25300363e+01] [-8.67328238e-02 -2.91149164e-03 9.96227354e-01 -9.39228298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.526296757 meters 0.07381533162539827 Centerline is valid? [True, True] Translation: X:78.95, Y:-12.54, Z:-9.40 [[ 9.12233052e-01 4.02086599e-01 7.84679896e-02 7.89510207e+01] [-4.00893397e-01 9.15596458e-01 -3.11064320e-02 -1.25380712e+01] [-8.43524928e-02 -3.08098355e-03 9.96431214e-01 -9.39811536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.556296757 meters 0.0744499737416752 Centerline is valid? [True, True] Translation: X:78.98, Y:-12.55, Z:-9.40 [[ 9.11626546e-01 4.03571671e-01 7.78906122e-02 7.89814371e+01] [-4.02399558e-01 9.14942528e-01 -3.08993063e-02 -1.25482542e+01] [-8.37355183e-02 -3.17452004e-03 9.96482958e-01 -9.40347175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.586296757 meters 0.074941183047202 Centerline is valid? [True, True] Translation: X:79.01, Y:-12.56, Z:-9.41 [[ 9.10860556e-01 4.05448516e-01 7.71008997e-02 7.90113645e+01] [-4.04305505e-01 9.14111929e-01 -3.06012960e-02 -1.25595145e+01] [-8.28861022e-02 -3.29880470e-03 9.96553567e-01 -9.40825093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.616296757 meters 0.07561962713367962 Centerline is valid? [True, True] Translation: X:79.04, Y:-12.57, Z:-9.41 [[ 9.09373305e-01 4.08637792e-01 7.78161129e-02 7.90414020e+01] [-4.07484534e-01 9.12689472e-01 -3.08914691e-02 -1.25705292e+01] [-8.36453687e-02 -3.61698513e-03 9.96489021e-01 -9.41092374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.646296757 meters 0.07675076529701025 Centerline is valid? [True, True] Translation: X:79.07, Y:-12.58, Z:-9.42 [[ 9.08335933e-01 4.10638940e-01 7.93819469e-02 7.90708675e+01] [-4.09446229e-01 9.11789795e-01 -3.15143783e-02 -1.25785474e+01] [-8.53206800e-02 -3.87699652e-03 9.96345999e-01 -9.41627798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.676296757 meters 0.0761570665819425 Centerline is valid? [True, True] Translation: X:79.10, Y:-12.59, Z:-9.42 [[ 9.07131818e-01 4.13472596e-01 7.84364549e-02 7.90990143e+01] [-4.12316575e-01 9.10507464e-01 -3.11640951e-02 -1.25943681e+01] [-8.43024769e-02 -4.07070820e-03 9.96431895e-01 -9.41684211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.706296757 meters 0.07793564864509928 Centerline is valid? [True, True] Translation: X:79.13, Y:-12.60, Z:-9.42 [[ 9.06539557e-01 4.14699517e-01 7.88057192e-02 7.91287072e+01] [-4.13537080e-01 9.09948702e-01 -3.13120161e-02 -1.26026383e+01] [-8.46942399e-02 -4.20350578e-03 9.96398121e-01 -9.42317245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.736296757 meters 0.07629786917290159 Centerline is valid? [True, True] Translation: X:79.16, Y:-12.62, Z:-9.42 [[ 9.05907469e-01 4.16022420e-01 7.91012211e-02 7.91561206e+01] [-4.14854482e-01 9.09344074e-01 -3.14501833e-02 -1.26211833e+01] [-8.50142080e-02 -4.32454014e-03 9.96370354e-01 -9.42447686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.766296757 meters 0.07663714856525086 Centerline is valid? [True, True] Translation: X:79.19, Y:-12.63, Z:-9.43 [[ 9.05628723e-01 4.16686991e-01 7.87944612e-02 7.91857178e+01] [-4.15528670e-01 9.09039624e-01 -3.13510196e-02 -1.26328693e+01] [-8.46908494e-02 -4.34897379e-03 9.96397785e-01 -9.42975543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79629675700001 meters 0.07724641335238137 Centerline is valid? [True, True] Translation: X:79.22, Y:-12.64, Z:-9.44 [[ 9.05426997e-01 4.17068906e-01 7.90915959e-02 7.92150849e+01] [-4.15901131e-01 9.08864322e-01 -3.14943322e-02 -1.26448272e+01] [-8.50188364e-02 -4.37846552e-03 9.96369724e-01 -9.43511384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82629675700001 meters 0.07715757872102819 Centerline is valid? [True, True] Translation: X:79.24, Y:-12.66, Z:-9.44 [[ 9.05387373e-01 4.17167518e-01 7.90250980e-02 7.92449451e+01] [-4.16000990e-01 9.08819093e-01 -3.14806526e-02 -1.26588640e+01] [-8.49522236e-02 -4.37233372e-03 9.96375432e-01 -9.43761286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85629675700001 meters 0.07629014164247214 Centerline is valid? [True, True] Translation: X:79.27, Y:-12.67, Z:-9.44 [[ 9.05424436e-01 4.17088215e-01 7.90190623e-02 7.92727826e+01] [-4.15919304e-01 9.08855644e-01 -3.15047628e-02 -1.26747032e+01] [-8.49571861e-02 -4.34037134e-03 9.96375149e-01 -9.43985913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.886296757 meters 0.07578563675082453 Centerline is valid? [True, True] Translation: X:79.30, Y:-12.69, Z:-9.44 [[ 9.06176303e-01 4.15427660e-01 7.91477525e-02 7.92995983e+01] [-4.14246577e-01 9.09616663e-01 -3.15800465e-02 -1.26920922e+01] [-8.51133394e-02 -4.16959575e-03 9.96362551e-01 -9.44002045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.916296757 meters 0.07535706111952521 Centerline is valid? [True, True] Translation: X:79.33, Y:-12.70, Z:-9.44 [[ 9.07375113e-01 4.12426014e-01 8.10875323e-02 7.93274526e+01] [-4.11172437e-01 9.10982473e-01 -3.23753040e-02 -1.27042070e+01] [-8.72217383e-02 -3.96441320e-03 9.96181034e-01 -9.44412853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.946296757 meters 0.0748957528687646 Centerline is valid? [True, True] Translation: X:79.36, Y:-12.72, Z:-9.45 [[ 9.08324042e-01 4.10095961e-01 8.22723389e-02 7.93563683e+01] [-4.08793602e-01 9.12034580e-01 -3.28742386e-02 -1.27168488e+01] [-8.85168105e-02 -3.77194447e-03 9.96067541e-01 -9.44818594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.976296757 meters 0.07406039975403345 Centerline is valid? [True, True] Translation: X:79.38, Y:-12.73, Z:-9.45 [[ 9.09972655e-01 4.06040186e-01 8.41494808e-02 7.93833757e+01] [-4.04660270e-01 9.13848694e-01 -3.36248511e-02 -1.27338352e+01] [-9.05529340e-02 -3.45425657e-03 9.95885653e-01 -9.45026527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.006296757 meters 0.07376338652589307 Centerline is valid? [True, True] Translation: X:79.41, Y:-12.75, Z:-9.45 [[ 9.10733685e-01 4.04194268e-01 8.48006379e-02 7.94119582e+01] [-4.02782398e-01 9.14667313e-01 -3.39123316e-02 -1.27486130e+01] [-9.12715417e-02 -3.27110155e-03 9.95820669e-01 -9.45294897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.036296757 meters 0.07306345881779348 Centerline is valid? [True, True] Translation: X:79.44, Y:-12.77, Z:-9.45 [[ 9.11922543e-01 4.01238421e-01 8.60523334e-02 7.94391899e+01] [-3.99770776e-01 9.15968694e-01 -3.44191699e-02 -1.27654486e+01] [-9.26315368e-02 -3.01359117e-03 9.95695896e-01 -9.45466559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.066296757 meters 0.07316892281165871 Centerline is valid? [True, True] Translation: X:79.47, Y:-12.78, Z:-9.46 [[ 9.12175980e-01 4.00559232e-01 8.65290913e-02 7.94679476e+01] [-3.99072097e-01 9.16266086e-01 -3.46110014e-02 -1.27761210e+01] [-9.31474279e-02 -2.96002184e-03 9.95647927e-01 -9.45939624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.096296757 meters 0.07270527301262938 Centerline is valid? [True, True] Translation: X:79.50, Y:-12.79, Z:-9.46 [[ 9.12513094e-01 4.00037531e-01 8.53804804e-02 7.94974518e+01] [-3.98585524e-01 9.16494330e-01 -3.41719754e-02 -1.27895383e+01] [-9.19207988e-02 -2.84904853e-03 9.95762246e-01 -9.46324284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.126296757 meters 0.07293320656800002 Centerline is valid? [True, True] Translation: X:79.53, Y:-12.80, Z:-9.47 [[ 9.12330598e-01 4.00480420e-01 8.52543982e-02 7.95278066e+01] [-3.99032060e-01 9.16300842e-01 -3.41494150e-02 -1.28011334e+01] [-9.17948489e-02 -2.86368195e-03 9.95773822e-01 -9.46773533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.156296757 meters 0.0731252477298906 Centerline is valid? [True, True] Translation: X:79.56, Y:-12.81, Z:-9.47 [[ 9.12086727e-01 4.01280893e-01 8.40918970e-02 7.95575920e+01] [-3.99872679e-01 9.15950523e-01 -3.37117057e-02 -1.28130221e+01] [-9.05518805e-02 -2.87805278e-03 9.95887581e-01 -9.47184297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.18629675700001 meters 0.07433706605731923 Centerline is valid? [True, True] Translation: X:79.59, Y:-12.82, Z:-9.48 [[ 9.11314951e-01 4.02953294e-01 8.44612532e-02 7.95869480e+01] [-4.01537309e-01 9.15215520e-01 -3.38871923e-02 -1.28203818e+01] [-9.09552055e-02 -3.03243935e-03 9.95850368e-01 -9.47853748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.21629675700001 meters 0.07378802216066216 Centerline is valid? [True, True] Translation: X:79.62, Y:-12.83, Z:-9.48 [[ 9.10711211e-01 4.04567652e-01 8.32472516e-02 7.96154468e+01] [-4.03198086e-01 9.14502684e-01 -3.34087542e-02 -1.28339286e+01] [-8.96459363e-02 -3.13940549e-03 9.95968750e-01 -9.48057836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.24629675700001 meters 0.07415745024653374 Centerline is valid? [True, True] Translation: X:79.65, Y:-12.84, Z:-9.49 [[ 9.10579381e-01 4.04887527e-01 8.31341170e-02 7.96457158e+01] [-4.03521150e-01 9.14361079e-01 -3.33840971e-02 -1.28439479e+01] [-8.95314055e-02 -3.14750404e-03 9.95979026e-01 -9.48601783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.276296757 meters 0.07419902893619817 Centerline is valid? [True, True] Translation: X:79.68, Y:-12.85, Z:-9.49 [[ 9.10148163e-01 4.05975909e-01 8.25462443e-02 7.96752657e+01] [-4.04631033e-01 9.13878147e-01 -3.31731647e-02 -1.28548194e+01] [-8.89047145e-02 -3.20827717e-03 9.96034969e-01 -9.49100581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.306296757 meters 0.07441619744503564 Centerline is valid? [True, True] Translation: X:79.70, Y:-12.87, Z:-9.50 [[ 9.09010037e-01 4.08325387e-01 8.34932960e-02 7.97045808e+01] [-4.06957122e-01 9.12829906e-01 -3.35777331e-02 -1.28656616e+01] [-8.99258184e-02 -3.45569510e-03 9.95942471e-01 -9.49547740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.336296757 meters 0.0738505937349754 Centerline is valid? [True, True] Translation: X:79.73, Y:-12.88, Z:-9.50 [[ 9.08567136e-01 4.09545363e-01 8.23307610e-02 7.97329521e+01] [-4.08218184e-01 9.12283011e-01 -3.31303888e-02 -1.28807795e+01] [-8.86773516e-02 -3.50773126e-03 9.96054227e-01 -9.49706480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.366296757 meters 0.07421787064704471 Centerline is valid? [True, True] Translation: X:79.76, Y:-12.89, Z:-9.50 [[ 9.08494272e-01 4.09950450e-01 8.11097210e-02 7.97621903e+01] [-4.08662013e-01 9.12101181e-01 -3.26618263e-02 -1.28911644e+01] [-8.73700027e-02 -3.47337978e-03 9.96169874e-01 -9.50277518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.396296757 meters 0.07416295277424574 Centerline is valid? [True, True] Translation: X:79.79, Y:-12.90, Z:-9.51 [[ 9.08042139e-01 4.10722537e-01 8.22585618e-02 7.97916828e+01] [-4.09398475e-01 9.11753363e-01 -3.31465487e-02 -1.29022858e+01] [-8.86135550e-02 -3.57806674e-03 9.96059655e-01 -9.50635444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.426296757 meters 0.07463306339923542 Centerline is valid? [True, True] Translation: X:79.82, Y:-12.91, Z:-9.51 [[ 9.07996554e-01 4.10719155e-01 8.27770089e-02 7.98207129e+01] [-4.09376082e-01 9.11754888e-01 -3.33803422e-02 -1.29116438e+01] [-8.91822884e-02 -3.57769191e-03 9.96008895e-01 -9.51146445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.456296757 meters 0.07400461419744989 Centerline is valid? [True, True] Translation: X:79.85, Y:-12.93, Z:-9.51 [[ 9.08158068e-01 4.10448012e-01 8.23489696e-02 7.98494322e+01] [-4.09115808e-01 9.11877233e-01 -3.32290233e-02 -1.29268096e+01] [-8.87309371e-02 -3.51305964e-03 9.96049436e-01 -9.51249515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.486296757 meters 0.07372383106159411 Centerline is valid? [True, True] Translation: X:79.88, Y:-12.94, Z:-9.51 [[ 9.08786928e-01 4.08586984e-01 8.46344837e-02 7.98776760e+01] [-4.07168854e-01 9.12713065e-01 -3.41816575e-02 -1.29412898e+01] [-9.12131794e-02 -3.39668222e-03 9.95825596e-01 -9.51452713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.516296757 meters 0.07333681306506402 Centerline is valid? [True, True] Translation: X:79.91, Y:-12.95, Z:-9.52 [[ 9.09394544e-01 4.07245202e-01 8.45748681e-02 7.99069617e+01] [-4.05823278e-01 9.13313046e-01 -3.41576784e-02 -1.29548830e+01] [-9.11538810e-02 -3.25964384e-03 9.95831484e-01 -9.51677220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54629675700001 meters 0.07232720954177813 Centerline is valid? [True, True] Translation: X:79.93, Y:-12.97, Z:-9.52 [[ 9.10959370e-01 4.03585549e-01 8.52744471e-02 7.99344434e+01] [-4.02121640e-01 9.14937336e-01 -3.44653244e-02 -1.29705836e+01] [-9.19304823e-02 -2.89419025e-03 9.95761221e-01 -9.51869259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57629675700001 meters 0.07265954147967094 Centerline is valid? [True, True] Translation: X:79.96, Y:-12.98, Z:-9.52 [[ 9.11494617e-01 4.02221736e-01 8.59955754e-02 7.99627591e+01] [-4.00724734e-01 9.15538127e-01 -3.47796545e-02 -1.29816973e+01] [-9.27213610e-02 -2.75908626e-03 9.95688273e-01 -9.52348888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60629675700001 meters 0.07205013674773106 Centerline is valid? [True, True] Translation: X:79.99, Y:-13.00, Z:-9.53 [[ 9.12532689e-01 4.00112742e-01 8.48167818e-02 7.99908025e+01] [-3.98645481e-01 9.16462545e-01 -3.43246820e-02 -1.29971653e+01] [-9.14651463e-02 -2.48943237e-03 9.95805167e-01 -9.52513097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.636296757 meters 0.07194597010366906 Centerline is valid? [True, True] Translation: X:80.02, Y:-13.01, Z:-9.53 [[ 9.13048394e-01 3.98926163e-01 8.48560303e-02 8.00188111e+01] [-3.97450172e-01 9.16980043e-01 -3.43651365e-02 -1.30091724e+01] [-9.15204383e-02 -2.34901112e-03 9.95800428e-01 -9.52903128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.666296757 meters 0.07200800677283026 Centerline is valid? [True, True] Translation: X:80.05, Y:-13.02, Z:-9.53 [[ 9.13375910e-01 3.98352320e-01 8.40230657e-02 8.00489665e+01] [-3.96900948e-01 9.17229724e-01 -3.40480726e-02 -1.30225214e+01] [-9.06315820e-02 -2.25014511e-03 9.95881947e-01 -9.53202930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.696296757 meters 0.07209641305906496 Centerline is valid? [True, True] Translation: X:80.08, Y:-13.03, Z:-9.54 [[ 9.13443438e-01 3.98514417e-01 8.25066350e-02 8.00780114e+01] [-3.97113259e-01 9.17159430e-01 -3.34610080e-02 -1.30346055e+01] [-8.90064325e-02 -2.19974050e-03 9.96028622e-01 -9.53545195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.726296757 meters 0.0727783057634535 Centerline is valid? [True, True] Translation: X:80.11, Y:-13.04, Z:-9.54 [[ 9.13543936e-01 3.98739779e-01 8.02749335e-02 8.01063246e+01] [-3.97412475e-01 9.17061615e-01 -3.25779038e-02 -1.30442532e+01] [-8.66071663e-02 -2.14091349e-03 9.96240240e-01 -9.54271601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.756296757 meters 0.0727783057634535 Centerline is valid? [True, True] Translation: X:80.14, Y:-13.06, Z:-9.55 [[ 9.13437862e-01 3.98983603e-01 8.02705269e-02 8.01361083e+01] [-3.97656285e-01 9.16955534e-01 -3.25887580e-02 -1.30564618e+01] [-8.66068839e-02 -2.15227408e-03 9.96240240e-01 -9.54647392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.786296757 meters 0.07228190204217264 Centerline is valid? [True, True] Translation: X:80.17, Y:-13.07, Z:-9.55 [[ 9.13517755e-01 3.98812323e-01 8.02124833e-02 8.01653492e+01] [-3.97484035e-01 9.17030139e-01 -3.25908945e-02 -1.30699118e+01] [-8.65549150e-02 -2.11082075e-03 9.96244845e-01 -9.54866254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.816296757 meters 0.0718970050926882 Centerline is valid? [True, True] Translation: X:80.20, Y:-13.08, Z:-9.55 [[ 9.13491103e-01 3.98976407e-01 7.96983793e-02 8.01950490e+01] [-3.97663827e-01 9.16958805e-01 -3.24041885e-02 -1.30832477e+01] [-8.60086373e-02 -2.09222457e-03 9.96292195e-01 -9.55007484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.846296757 meters 0.07213298475581911 Centerline is valid? [True, True] Translation: X:80.22, Y:-13.09, Z:-9.55 [[ 9.13364617e-01 3.98921743e-01 8.14034413e-02 8.02238174e+01] [-3.97549885e-01 9.16982549e-01 -3.31224175e-02 -1.30932972e+01] [-8.78587876e-02 -2.10908451e-03 9.96130707e-01 -9.55426071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.876296757 meters 0.0722400838185966 Centerline is valid? [True, True] Translation: X:80.25, Y:-13.11, Z:-9.56 [[ 9.13397325e-01 3.98776525e-01 8.17472361e-02 8.02520150e+01] [-3.97390477e-01 9.17045769e-01 -3.32846307e-02 -1.31050955e+01] [-8.82390863e-02 -2.08348052e-03 9.96097145e-01 -9.55750689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.906296757 meters 0.07203888087176018 Centerline is valid? [True, True] Translation: X:80.28, Y:-13.12, Z:-9.56 [[ 9.12893334e-01 3.99752355e-01 8.26063904e-02 8.02816975e+01] [-3.98339135e-01 9.16620583e-01 -3.36547257e-02 -1.31181702e+01] [-8.91722736e-02 -2.18218338e-03 9.96013827e-01 -9.56053939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.93629675700001 meters 0.07238301919256745 Centerline is valid? [True, True] Translation: X:80.31, Y:-13.13, Z:-9.57 [[ 9.12658946e-01 4.00335597e-01 8.23714603e-02 8.03115236e+01] [-3.98930269e-01 9.16365942e-01 -3.35872149e-02 -1.31274302e+01] [-8.89285586e-02 -2.20679672e-03 9.96035562e-01 -9.56604437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.96629675700001 meters 0.0728202090068488 Centerline is valid? [True, True] Translation: X:80.34, Y:-13.14, Z:-9.57 [[ 9.11472334e-01 4.03144999e-01 8.18064387e-02 8.03420427e+01] [-4.01768286e-01 9.15132852e-01 -3.33782487e-02 -1.31352708e+01] [-8.83200336e-02 -2.44388239e-03 9.96089152e-01 -9.57216694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99629675700001 meters 0.07288005537407528 Centerline is valid? [True, True] Translation: X:80.37, Y:-13.15, Z:-9.58 [[ 9.10774193e-01 4.04684241e-01 8.19819176e-02 8.03716715e+01] [-4.03305992e-01 9.14452847e-01 -3.34703977e-02 -1.31467163e+01] [-8.85135405e-02 -2.57982414e-03 9.96071633e-01 -9.57674724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.026296757 meters 0.07364849754693423 Centerline is valid? [True, True] Translation: X:80.40, Y:-13.16, Z:-9.58 [[ 9.09763879e-01 4.07444153e-01 7.94918046e-02 8.04000039e+01] [-4.06156775e-01 9.13226022e-01 -3.24793216e-02 -1.31572330e+01] [-8.58274941e-02 -2.73762142e-03 9.96306251e-01 -9.58122763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.056296757 meters 0.07383255042009548 Centerline is valid? [True, True] Translation: X:80.43, Y:-13.17, Z:-9.59 [[ 9.09169336e-01 4.08854636e-01 7.90506436e-02 8.04295767e+01] [-4.07586240e-01 9.12595077e-01 -3.23060855e-02 -1.31695197e+01] [-8.53497210e-02 -2.84825229e-03 9.96346984e-01 -9.58544257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.086296757 meters 0.07421181639558183 Centerline is valid? [True, True] Translation: X:80.46, Y:-13.18, Z:-9.59 [[ 9.08823493e-01 4.09774190e-01 7.82622019e-02 8.04582347e+01] [-4.08532226e-01 9.12182443e-01 -3.20095441e-02 -1.31808841e+01] [-8.45060916e-02 -2.88160589e-03 9.96418796e-01 -9.58993652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.116296757 meters 0.07449143210021043 Centerline is valid? [True, True] Translation: X:80.49, Y:-13.19, Z:-9.59 [[ 9.08068889e-01 4.11187931e-01 7.95950891e-02 8.04886736e+01] [-4.09908027e-01 9.11545464e-01 -3.25618933e-02 -1.31917177e+01] [-8.59435999e-02 -3.05822364e-03 9.96295310e-01 -9.59423053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.146296757 meters 0.07409584067869363 Centerline is valid? [True, True] Translation: X:80.52, Y:-13.20, Z:-9.60 [[ 9.07362325e-01 4.12483763e-01 8.09367398e-02 8.05192843e+01] [-4.11163126e-01 9.10959293e-01 -3.31368382e-02 -1.32029109e+01] [-8.73984830e-02 -3.21108437e-03 9.96168256e-01 -9.59824826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.176296757 meters 0.07444577646131523 Centerline is valid? [True, True] Translation: X:80.55, Y:-13.21, Z:-9.60 [[ 9.06967790e-01 4.13452048e-01 8.04166111e-02 8.05490483e+01] [-4.12149779e-01 9.10520065e-01 -3.29510425e-02 -1.32143268e+01] [-8.68446139e-02 -3.25815430e-03 9.96216541e-01 -9.60276994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.206296757 meters 0.07526473226026015 Centerline is valid? [True, True] Translation: X:80.58, Y:-13.22, Z:-9.61 [[ 9.06906426e-01 4.13396273e-01 8.13895287e-02 8.05780275e+01] [-4.12059910e-01 9.10545345e-01 -3.33737216e-02 -1.32241956e+01] [-8.79054287e-02 -3.27051930e-03 9.96123456e-01 -9.60867094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.236296757 meters 0.07420472244968956 Centerline is valid? [True, True] Translation: X:80.60, Y:-13.24, Z:-9.61 [[ 9.07336712e-01 4.12137177e-01 8.29640854e-02 8.06049493e+01] [-4.10741237e-01 9.11116226e-01 -3.40420277e-02 -1.32411271e+01] [-8.96199095e-02 -3.18918954e-03 9.95970934e-01 -9.60829210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.266296757 meters 0.07375148506691093 Centerline is valid? [True, True] Translation: X:80.63, Y:-13.25, Z:-9.61 [[ 9.07607001e-01 4.11143651e-01 8.49142483e-02 8.06339186e+01] [-4.09674565e-01 9.11565153e-01 -3.48672031e-02 -1.32545295e+01] [-9.17402990e-02 -3.14149011e-03 9.95778012e-01 -9.61131953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.29629675700001 meters 0.07345612086036386 Centerline is valid? [True, True] Translation: X:80.66, Y:-13.26, Z:-9.62 [[ 9.08938711e-01 4.07864175e-01 8.64710051e-02 8.06618333e+01] [-4.06325446e-01 9.13038139e-01 -3.55104039e-02 -1.32647875e+01] [-9.34347471e-02 -2.85858899e-03 9.95621302e-01 -9.61788571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.32629675700001 meters 0.07153274222371374 Centerline is valid? [True, True] Translation: X:80.69, Y:-13.29, Z:-9.62 [[ 9.10772276e-01 4.03358230e-01 8.82949530e-02 8.06878987e+01] [-4.01731275e-01 9.15038914e-01 -3.62735284e-02 -1.32867499e+01] [-9.54245441e-02 -2.43392002e-03 9.95433691e-01 -9.61680475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.35629675700001 meters 0.07135322195013263 Centerline is valid? [True, True] Translation: X:80.72, Y:-13.30, Z:-9.62 [[ 9.11730991e-01 4.01114384e-01 8.86219509e-02 8.07155617e+01] [-3.99462065e-01 9.16025377e-01 -3.64357906e-02 -1.33002878e+01] [-9.57948758e-02 -2.18146802e-03 9.95398706e-01 -9.61984374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.386296757 meters 0.07175855258388288 Centerline is valid? [True, True] Translation: X:80.74, Y:-13.31, Z:-9.63 [[ 9.12523682e-01 3.99358591e-01 8.83925699e-02 8.07439692e+01] [-3.97705386e-01 9.16792667e-01 -3.63542445e-02 -1.33111548e+01] [-9.55560398e-02 -1.98009213e-03 9.95422083e-01 -9.62638734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.416296757 meters 0.07069524907960577 Centerline is valid? [True, True] Translation: X:80.77, Y:-13.33, Z:-9.63 [[ 9.13819684e-01 3.95980366e-01 9.01838904e-02 8.07705167e+01] [-3.94240515e-01 9.18257517e-01 -3.71153305e-02 -1.33296679e+01] [-9.75089775e-02 -1.63742383e-03 9.95233298e-01 -9.62630315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.446296757 meters 0.07079861643293535 Centerline is valid? [True, True] Translation: X:80.80, Y:-13.34, Z:-9.63 [[ 9.14396037e-01 3.94823819e-01 8.94093919e-02 8.07986338e+01] [-3.93105820e-01 9.18755663e-01 -3.68218041e-02 -1.33426759e+01] [-9.66835105e-02 -1.47764065e-03 9.95314079e-01 -9.63081031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.476296757 meters 0.07075881052975548 Centerline is valid? [True, True] Translation: X:80.83, Y:-13.36, Z:-9.64 [[ 9.14509839e-01 3.94630275e-01 8.90993879e-02 8.08292114e+01] [-3.92922210e-01 9.18838869e-01 -3.67051751e-02 -1.33552104e+01] [-9.63529541e-02 -1.44188471e-03 9.95346186e-01 -9.63555524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.506296757 meters 0.07091365978992636 Centerline is valid? [True, True] Translation: X:80.86, Y:-13.37, Z:-9.64 [[ 9.14420475e-01 3.95139188e-01 8.77508800e-02 8.08578808e+01] [-3.93482135e-01 9.18620123e-01 -3.61784222e-02 -1.33658708e+01] [-9.49052366e-02 -1.44611363e-03 9.95485261e-01 -9.64066438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.536296757 meters 0.07137049931730656 Centerline is valid? [True, True] Translation: X:80.89, Y:-13.37, Z:-9.65 [[ 9.14089923e-01 3.96202000e-01 8.63920577e-02 8.08870418e+01] [-3.94598535e-01 9.18162128e-01 -3.56413126e-02 -1.33738352e+01] [-9.34430749e-02 -1.51081473e-03 9.95623478e-01 -9.64799841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.566296757 meters 0.07116004325272189 Centerline is valid? [True, True] Translation: X:80.92, Y:-13.39, Z:-9.65 [[ 9.13807401e-01 3.97035332e-01 8.55510366e-02 8.09158714e+01] [-3.95465305e-01 9.17801988e-01 -3.53086807e-02 -1.33890189e+01] [-9.25377052e-02 -1.56713308e-03 9.95707948e-01 -9.64765501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.596296757 meters 0.07123388411154409 Centerline is valid? [True, True] Translation: X:80.95, Y:-13.40, Z:-9.65 [[ 9.12989462e-01 3.98867208e-01 8.57624165e-02 8.09459923e+01] [-3.97294869e-01 9.17007062e-01 -3.54236570e-02 -1.33996068e+01] [-9.27740768e-02 -1.73154246e-03 9.95685680e-01 -9.65151351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.626296757 meters 0.07134987320525607 Centerline is valid? [True, True] Translation: X:80.98, Y:-13.41, Z:-9.65 [[ 9.12599023e-01 3.99875595e-01 8.52204834e-02 8.09760729e+01] [-3.98327068e-01 9.16567620e-01 -3.52043254e-02 -1.34097590e+01] [-9.21876862e-02 -1.81819226e-03 9.95739988e-01 -9.65482688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.656296757 meters 0.07204622455050899 Centerline is valid? [True, True] Translation: X:81.01, Y:-13.42, Z:-9.66 [[ 9.11184187e-01 4.03048299e-01 8.54133893e-02 8.10075725e+01] [-4.01504406e-01 9.15176249e-01 -3.53078700e-02 -1.34162593e+01] [-9.23990822e-02 -2.12187929e-03 9.95719794e-01 -9.66030847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.68629675700001 meters 0.07214113253309963 Centerline is valid? [True, True] Translation: X:81.04, Y:-13.43, Z:-9.66 [[ 9.10205542e-01 4.05179481e-01 8.57639786e-02 8.10377184e+01] [-4.03630048e-01 9.14234204e-01 -3.54768307e-02 -1.34261700e+01] [-9.27828466e-02 -2.32571091e-03 9.95683652e-01 -9.66443524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.71629675700001 meters 0.07253523471605314 Centerline is valid? [True, True] Translation: X:81.07, Y:-13.44, Z:-9.67 [[ 9.09424520e-01 4.06827829e-01 8.62447697e-02 8.10672191e+01] [-4.05266023e-01 9.13501473e-01 -3.57002777e-02 -1.34357305e+01] [-9.33085906e-02 -2.48536693e-03 9.95634135e-01 -9.66893740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.74629675700001 meters 0.07286790680978622 Centerline is valid? [True, True] Translation: X:81.10, Y:-13.45, Z:-9.67 [[ 9.08231318e-01 4.09533634e-01 8.60120647e-02 8.10970610e+01] [-4.07990278e-01 9.12290918e-01 -3.56260202e-02 -1.34472674e+01] [-9.30580791e-02 -2.73541889e-03 9.95656925e-01 -9.67096704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.776296757 meters 0.07285516004623703 Centerline is valid? [True, True] Translation: X:81.13, Y:-13.46, Z:-9.67 [[ 9.06914229e-01 4.12506881e-01 8.57009589e-02 8.11269694e+01] [-4.10985910e-01 9.10949513e-01 -3.55185299e-02 -1.34587635e+01] [-9.27208848e-02 -3.00962647e-03 9.95687591e-01 -9.67434159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.806296757 meters 0.07359896420754626 Centerline is valid? [True, True] Translation: X:81.16, Y:-13.47, Z:-9.68 [[ 9.06176985e-01 4.14257611e-01 8.50523579e-02 8.11568752e+01] [-4.12765594e-01 9.10154231e-01 -3.52681065e-02 -1.34663666e+01] [-9.20208450e-02 -3.14754064e-03 9.95752106e-01 -9.68043781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.836296757 meters 0.07458588414550067 Centerline is valid? [True, True] Translation: X:81.19, Y:-13.47, Z:-9.69 [[ 9.05584125e-01 4.15578865e-01 8.49211376e-02 8.11871250e+01] [-4.14094955e-01 9.09551328e-01 -3.52384712e-02 -1.34744461e+01] [-9.18844973e-02 -3.25401448e-03 9.95764355e-01 -9.68643694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.866296757 meters 0.07424274175089146 Centerline is valid? [True, True] Translation: X:81.22, Y:-13.49, Z:-9.69 [[ 9.05100576e-01 4.16974053e-01 8.32201027e-02 8.12157198e+01] [-4.15554155e-01 9.08912330e-01 -3.45415769e-02 -1.34878336e+01] [-9.00427189e-02 -3.31885826e-03 9.95932374e-01 -9.68782665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.896296757 meters 0.07412259905307406 Centerline is valid? [True, True] Translation: X:81.24, Y:-13.50, Z:-9.69 [[ 9.05528985e-01 4.16139583e-01 8.27351560e-02 8.12436590e+01] [-4.14730858e-01 9.09295124e-01 -3.43612155e-02 -1.35040481e+01] [-8.95297358e-02 -3.19774560e-03 9.95979016e-01 -9.69053758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.926296757 meters 0.07309153956112603 Centerline is valid? [True, True] Translation: X:81.27, Y:-13.52, Z:-9.69 [[ 9.06632773e-01 4.14097773e-01 8.08705686e-02 8.12719412e+01] [-4.12741487e-01 9.10227776e-01 -3.36134119e-02 -1.35212082e+01] [-8.75298768e-02 -2.90361780e-03 9.96157663e-01 -9.69165917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.956296757 meters 0.07307005275184598 Centerline is valid? [True, True] Translation: X:81.30, Y:-13.53, Z:-9.70 [[ 9.07337548e-01 4.12660431e-01 8.03115344e-02 8.13011718e+01] [-4.11316946e-01 9.10880808e-01 -3.33844682e-02 -1.35343401e+01] [-8.69306844e-02 -2.74251356e-03 9.96210588e-01 -9.69649001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.986296757 meters 0.07275571935960762 Centerline is valid? [True, True] Translation: X:81.33, Y:-13.55, Z:-9.70 [[ 9.09039237e-01 4.08947614e-01 8.00594436e-02 8.13297129e+01] [-4.07596104e-01 9.12554815e-01 -3.33035440e-02 -1.35457682e+01] [-8.66780356e-02 -2.35768906e-03 9.96233587e-01 -9.70110618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.016296757 meters 0.07259187010836118 Centerline is valid? [True, True] Translation: X:81.36, Y:-13.56, Z:-9.70 [[ 9.09466499e-01 4.07654241e-01 8.17845119e-02 8.13587242e+01] [-4.06236509e-01 9.13133563e-01 -3.40440205e-02 -1.35580057e+01] [-8.85583720e-02 -2.26195842e-03 9.96068420e-01 -9.70416802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.04629675700001 meters 0.07201491992006841 Centerline is valid? [True, True] Translation: X:81.39, Y:-13.57, Z:-9.71 [[ 9.10651511e-01 4.04243113e-01 8.54478315e-02 8.13868562e+01] [-4.02678095e-01 9.14649399e-01 -3.55925315e-02 -1.35710263e+01] [-9.25428435e-02 -1.99557749e-03 9.95706704e-01 -9.70568056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.07629675700001 meters 0.07166234334332251 Centerline is valid? [True, True] Translation: X:81.42, Y:-13.58, Z:-9.71 [[ 9.11298595e-01 4.02414482e-01 8.71633857e-02 8.14161188e+01] [-4.00775172e-01 9.15455766e-01 -3.63318366e-02 -1.35846807e+01] [-9.44146812e-02 -1.82376923e-03 9.95531286e-01 -9.70801374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.10629675700001 meters 0.0712577162654156 Centerline is valid? [True, True] Translation: X:81.44, Y:-13.60, Z:-9.71 [[ 9.11945801e-01 4.00518433e-01 8.91057846e-02 8.14445038e+01] [-3.98795548e-01 9.16287200e-01 -3.71467231e-02 -1.35970390e+01] [-9.65244371e-02 -1.65919202e-03 9.95329232e-01 -9.70936266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.136296757 meters 0.07129228652258465 Centerline is valid? [True, True] Translation: X:81.47, Y:-13.61, Z:-9.71 [[ 9.12266861e-01 3.99711009e-01 8.94443081e-02 8.14737635e+01] [-3.97969070e-01 9.16639882e-01 -3.73087798e-02 -1.36096303e+01] [-9.69009501e-02 -1.56050473e-03 9.95292807e-01 -9.71281929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.166296757 meters 0.07112020076281564 Centerline is valid? [True, True] Translation: X:81.50, Y:-13.62, Z:-9.72 [[ 9.12791387e-01 3.98694690e-01 8.86252144e-02 8.15031698e+01] [-3.96977299e-01 9.17082625e-01 -3.69930116e-02 -1.36218148e+01] [-9.60255616e-02 -1.41529594e-03 9.95377862e-01 -9.71795380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.196296757 meters 0.07131371569434625 Centerline is valid? [True, True] Translation: X:81.53, Y:-13.63, Z:-9.72 [[ 9.12691075e-01 3.99727211e-01 8.49303156e-02 8.15326404e+01] [-3.98153432e-01 9.16633004e-01 -3.54652010e-02 -1.36324997e+01] [-9.20263363e-02 -1.44652423e-03 9.95755523e-01 -9.72287545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.226296757 meters 0.07157299859852925 Centerline is valid? [True, True] Translation: X:81.56, Y:-13.64, Z:-9.73 [[ 9.12576499e-01 4.00223739e-01 8.38158198e-02 8.15628435e+01] [-3.98690857e-01 9.16416306e-01 -3.50250567e-02 -1.36432128e+01] [-9.08280431e-02 -1.45355734e-03 9.95865530e-01 -9.72860313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.256296757 meters 0.071936335389445 Centerline is valid? [True, True] Translation: X:81.59, Y:-13.65, Z:-9.73 [[ 9.11407848e-01 4.03011439e-01 8.31715942e-02 8.15931198e+01] [-4.01513235e-01 9.15193337e-01 -3.47603026e-02 -1.36521540e+01] [-9.01268884e-02 -1.71368327e-03 9.95928816e-01 -9.73309143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.286296757 meters 0.07211780341795607 Centerline is valid? [True, True] Translation: X:81.62, Y:-13.66, Z:-9.74 [[ 9.10834423e-01 4.04240915e-01 8.34861470e-02 8.16220899e+01] [-4.02734488e-01 9.14650733e-01 -3.49137428e-02 -1.36621268e+01] [-9.04742289e-02 -1.82211194e-03 9.95897130e-01 -9.73631755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.316296757 meters 0.0723917144898836 Centerline is valid? [True, True] Translation: X:81.65, Y:-13.67, Z:-9.74 [[ 9.09702592e-01 4.06822317e-01 8.32874305e-02 8.16531220e+01] [-4.05331933e-01 9.13504999e-01 -3.48517104e-02 -1.36708318e+01] [-9.02619377e-02 -2.05436387e-03 9.95915941e-01 -9.74056747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.346296757 meters 0.07277721549711308 Centerline is valid? [True, True] Translation: X:81.68, Y:-13.68, Z:-9.75 [[ 9.08796111e-01 4.09152701e-01 8.17538760e-02 8.16834818e+01] [-4.07724091e-01 9.12463222e-01 -3.42335248e-02 -1.36809086e+01] [-8.86041442e-02 -2.22173059e-03 9.96064440e-01 -9.74509869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.376296757 meters 0.07272092798507643 Centerline is valid? [True, True] Translation: X:81.71, Y:-13.69, Z:-9.75 [[ 9.07857038e-01 4.11423082e-01 8.07876625e-02 8.17130836e+01] [-4.10035602e-01 9.11441327e-01 -3.38454250e-02 -1.36925524e+01] [-8.75580034e-02 -2.39901053e-03 9.96156534e-01 -9.74809455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.406296757 meters 0.07383544066527083 Centerline is valid? [True, True] Translation: X:81.74, Y:-13.70, Z:-9.76 [[ 9.06412233e-01 4.14783061e-01 7.98240299e-02 8.17426270e+01] [-4.13439598e-01 9.09916414e-01 -3.34636812e-02 -1.36992326e+01] [-8.65133632e-02 -2.67052481e-03 9.96247111e-01 -9.75536858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.43629675700001 meters 0.07404878322128561 Centerline is valid? [True, True] Translation: X:81.77, Y:-13.71, Z:-9.76 [[ 9.05516212e-01 4.16506502e-01 8.10106394e-02 8.17712858e+01] [-4.15128855e-01 9.09128208e-01 -3.39696276e-02 -1.37099035e+01] [-8.77976282e-02 -2.86980552e-03 9.96134198e-01 -9.75884282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.46629675700001 meters 0.07407502562523972 Centerline is valid? [True, True] Translation: X:81.80, Y:-13.72, Z:-9.76 [[ 9.05214808e-01 4.16871378e-01 8.24888245e-02 8.18002568e+01] [-4.15442314e-01 9.08960740e-01 -3.46129553e-02 -1.37209920e+01] [-8.94082534e-02 -2.93718849e-03 9.95990731e-01 -9.76304908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.49629675700001 meters 0.07334195205283348 Centerline is valid? [True, True] Translation: X:81.83, Y:-13.74, Z:-9.76 [[ 9.05290037e-01 4.16656100e-01 8.27504822e-02 8.18288317e+01] [-4.15216168e-01 9.09059508e-01 -3.47324809e-02 -1.37358981e+01] [-8.96966126e-02 -2.91636911e-03 9.95964865e-01 -9.76478083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.526296757 meters 0.07342486098890975 Centerline is valid? [True, True] Translation: X:81.86, Y:-13.75, Z:-9.77 [[ 9.05249767e-01 4.16715493e-01 8.28918384e-02 8.18576488e+01] [-4.15268737e-01 9.09032318e-01 -3.48155194e-02 -1.37476262e+01] [-8.98595263e-02 -2.90564822e-03 9.95950211e-01 -9.76861213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.556296757 meters 0.07323628548660084 Centerline is valid? [True, True] Translation: X:81.89, Y:-13.76, Z:-9.77 [[ 9.05318442e-01 4.16329962e-01 8.40706900e-02 8.18867544e+01] [-4.14838047e-01 9.09209007e-01 -3.53323761e-02 -1.37604401e+01] [-9.11477554e-02 -2.88866916e-03 9.95833190e-01 -9.77150765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.586296757 meters 0.07258325875154056 Centerline is valid? [True, True] Translation: X:81.91, Y:-13.77, Z:-9.77 [[ 9.06366369e-01 4.13942192e-01 8.45687174e-02 8.19134445e+01] [-4.12419826e-01 9.10299339e-01 -3.55668563e-02 -1.37749836e+01] [-9.17054699e-02 -2.64121325e-03 9.95782672e-01 -9.77467030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.616296757 meters 0.07196591060435642 Centerline is valid? [True, True] Translation: X:81.94, Y:-13.79, Z:-9.77 [[ 9.06767274e-01 4.12886154e-01 8.54291191e-02 8.19414819e+01] [-4.11326531e-01 9.10779083e-01 -3.59436573e-02 -1.37913101e+01] [-9.26476932e-02 -2.54673110e-03 9.95695696e-01 -9.77484233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.646296757 meters 0.07151382957832436 Centerline is valid? [True, True] Translation: X:81.97, Y:-13.80, Z:-9.78 [[ 9.07882396e-01 4.10459856e-01 8.52775599e-02 8.19705877e+01] [-4.08892805e-01 9.11875838e-01 -3.59044669e-02 -1.38040875e+01] [-9.24998887e-02 -2.27234722e-03 9.95710102e-01 -9.77858594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.676296757 meters 0.07151382957832436 Centerline is valid? [True, True] Translation: X:82.00, Y:-13.82, Z:-9.78 [[ 9.07766136e-01 4.10718685e-01 8.52690092e-02 8.20002045e+01] [-4.09150868e-01 9.11759277e-01 -3.59247610e-02 -1.38166686e+01] [-9.24997807e-02 -2.27660763e-03 9.95710102e-01 -9.78234688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.706296757 meters 0.07111651398155087 Centerline is valid? [True, True] Translation: X:82.03, Y:-13.83, Z:-9.79 [[ 9.08195187e-01 4.09781141e-01 8.52110245e-02 8.20298357e+01] [-4.08208610e-01 9.12181332e-01 -3.59297621e-02 -1.38293990e+01] [-9.24512448e-02 -2.15263696e-03 9.95714886e-01 -9.78512452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.736296757 meters 0.07109615303155939 Centerline is valid? [True, True] Translation: X:82.06, Y:-13.84, Z:-9.79 [[ 9.08483679e-01 4.09016474e-01 8.58075145e-02 8.20595066e+01] [-4.07416026e-01 9.12524660e-01 -3.62067191e-02 -1.38411688e+01] [-9.31106176e-02 -2.06614319e-03 9.95653626e-01 -9.78918845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.766296757 meters 0.07067250589806669 Centerline is valid? [True, True] Translation: X:82.09, Y:-13.85, Z:-9.79 [[ 9.08551909e-01 4.08930867e-01 8.54925359e-02 8.20891046e+01] [-4.07339624e-01 9.12563111e-01 -3.60970827e-02 -1.38548837e+01] [-9.27785458e-02 -2.02842400e-03 9.95684703e-01 -9.79149988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.79629675700001 meters 0.07083630707704154 Centerline is valid? [True, True] Translation: X:82.12, Y:-13.87, Z:-9.80 [[ 9.08527835e-01 4.08963698e-01 8.55912836e-02 8.21186437e+01] [-4.07366245e-01 9.12548444e-01 -3.61673884e-02 -1.38671713e+01] [-9.28973415e-02 -2.00792074e-03 9.95673668e-01 -9.79503146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.82629675700001 meters 0.07069256316549836 Centerline is valid? [True, True] Translation: X:82.15, Y:-13.88, Z:-9.80 [[ 9.08188773e-01 4.09685320e-01 8.57385055e-02 8.21493377e+01] [-4.08083153e-01 9.12224582e-01 -3.62553822e-02 -1.38799621e+01] [-9.30660702e-02 -2.06170858e-03 9.95657801e-01 -9.79761537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.85629675700001 meters 0.07067231313328053 Centerline is valid? [True, True] Translation: X:82.18, Y:-13.89, Z:-9.80 [[ 9.07997631e-01 4.10427083e-01 8.42016126e-02 8.21791725e+01] [-4.08882603e-01 9.11891062e-01 -3.56329691e-02 -1.38918673e+01] [-9.14074335e-02 -2.07392297e-03 9.95811418e-01 -9.80173795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.886296757 meters 0.07093524001558238 Centerline is valid? [True, True] Translation: X:82.21, Y:-13.90, Z:-9.81 [[ 9.06905497e-01 4.12843811e-01 8.41570380e-02 8.22090755e+01] [-4.11309091e-01 9.10798949e-01 -3.56385437e-02 -1.38997753e+01] [-9.13632940e-02 -2.29376359e-03 9.95814986e-01 -9.80752624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.916296757 meters 0.07110279396282959 Centerline is valid? [True, True] Translation: X:82.24, Y:-13.91, Z:-9.81 [[ 9.06073811e-01 4.14692679e-01 8.40251818e-02 8.22395153e+01] [-4.13168724e-01 9.09958212e-01 -3.56041826e-02 -1.39105673e+01] [-9.12241980e-02 -2.45655970e-03 9.95827350e-01 -9.81092182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.946296757 meters 0.07183395791823811 Centerline is valid? [True, True] Translation: X:82.27, Y:-13.92, Z:-9.81 [[ 9.04557747e-01 4.18265534e-01 8.26391259e-02 8.22702031e+01] [-4.16803863e-01 9.08320654e-01 -3.50446613e-02 -1.39185187e+01] [-8.97207989e-02 -2.74438704e-03 9.95963175e-01 -9.81496403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.976296757 meters 0.07207607833576858 Centerline is valid? [True, True] Translation: X:82.30, Y:-13.93, Z:-9.82 [[ 9.03896271e-01 4.19989097e-01 8.11214550e-02 8.22995733e+01] [-4.18587397e-01 9.07524646e-01 -3.44035914e-02 -1.39301865e+01] [-8.80688531e-02 -2.85914077e-03 9.96110286e-01 -9.81933204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.006296757 meters 0.07315499962187147 Centerline is valid? [True, True] Translation: X:82.33, Y:-13.94, Z:-9.83 [[ 9.02696962e-01 4.23080108e-01 7.83672008e-02 8.23296706e+01] [-4.21782319e-01 9.06087190e-01 -3.32517645e-02 -1.39376267e+01] [-8.50756768e-02 -3.03763297e-03 9.96369862e-01 -9.82551096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.036296757 meters 0.07353941057606418 Centerline is valid? [True, True] Translation: X:82.36, Y:-13.95, Z:-9.83 [[ 9.01999961e-01 4.24698213e-01 7.76369638e-02 8.23592289e+01] [-4.23428804e-01 9.05329529e-01 -3.29619911e-02 -1.39478740e+01] [-8.42859345e-02 -3.14201204e-03 9.96436656e-01 -9.83128739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.066296757 meters 0.07445268183377471 Centerline is valid? [True, True] Translation: X:82.39, Y:-13.95, Z:-9.84 [[ 9.00749185e-01 4.27363156e-01 7.75347648e-02 8.23892975e+01] [-4.26104791e-01 9.04073790e-01 -3.29437397e-02 -1.39547290e+01] [-8.41760892e-02 -3.36388807e-03 9.96445217e-01 -9.83749125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.096296757 meters 0.07314900030469325 Centerline is valid? [True, True] Translation: X:82.42, Y:-13.97, Z:-9.84 [[ 9.00560735e-01 4.27707508e-01 7.78244850e-02 8.24184039e+01] [-4.26441106e-01 9.03910758e-01 -3.30654558e-02 -1.39720908e+01] [-8.44887329e-02 -3.41010830e-03 9.96418599e-01 -9.83670574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.126296757 meters 0.07354772352527286 Centerline is valid? [True, True] Translation: X:82.45, Y:-13.98, Z:-9.84 [[ 9.00297051e-01 4.27957978e-01 7.94807420e-02 8.24474631e+01] [-4.26635457e-01 9.03791931e-01 -3.37984141e-02 -1.39818864e+01] [-8.62983543e-02 -3.48069012e-03 9.96263258e-01 -9.83991275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.156296757 meters 0.07399094743750224 Centerline is valid? [True, True] Translation: X:82.48, Y:-13.99, Z:-9.84 [[ 9.00536361e-01 4.27235925e-01 8.06456913e-02 8.24762401e+01] [-4.25869433e-01 9.04133630e-01 -3.43162539e-02 -1.39922116e+01] [-8.75756181e-02 -3.44150041e-03 9.96151930e-01 -9.84493835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.18629675700001 meters 0.07340587830326195 Centerline is valid? [True, True] Translation: X:82.50, Y:-14.01, Z:-9.85 [[ 9.01154042e-01 4.26154273e-01 7.94602271e-02 8.25040803e+01] [-4.24821829e-01 9.04644598e-01 -3.38314295e-02 -1.40078356e+01] [-8.63006734e-02 -3.26910951e-03 9.96263774e-01 -9.84597969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.21629675700001 meters 0.07274878957604572 Centerline is valid? [True, True] Translation: X:82.53, Y:-14.02, Z:-9.85 [[ 9.01630648e-01 4.25086363e-01 7.97731745e-02 8.25320151e+01] [-4.23737274e-01 9.05147283e-01 -3.39870340e-02 -1.40244854e+01] [-8.66538969e-02 -3.15911605e-03 9.96233468e-01 -9.84768700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.24629675700001 meters 0.07289328767069252 Centerline is valid? [True, True] Translation: X:82.56, Y:-14.04, Z:-9.85 [[ 9.02206659e-01 4.24148508e-01 7.82380210e-02 8.25605310e+01] [-4.22845544e-01 9.05587712e-01 -3.33547803e-02 -1.40374091e+01] [-8.49987708e-02 -2.98969363e-03 9.96376571e-01 -9.85234245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.276296757 meters 0.07253133184131913 Centerline is valid? [True, True] Translation: X:82.59, Y:-14.05, Z:-9.86 [[ 9.03939414e-01 4.20405962e-01 7.84370003e-02 8.25871054e+01] [-4.19079866e-01 9.07332338e-01 -3.34678242e-02 -1.40515567e+01] [-8.52384996e-02 -2.61848217e-03 9.96357136e-01 -9.85746211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.306296757 meters 0.07229860077539854 Centerline is valid? [True, True] Translation: X:82.61, Y:-14.06, Z:-9.86 [[ 9.04875093e-01 4.18225666e-01 7.92991682e-02 8.26140629e+01] [-4.16860476e-01 9.08339920e-01 -3.38516338e-02 -1.40645998e+01] [-8.61882222e-02 -2.42518873e-03 9.96275920e-01 -9.86159182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.336296757 meters 0.07172623725672202 Centerline is valid? [True, True] Translation: X:82.64, Y:-14.08, Z:-9.86 [[ 9.05269555e-01 4.17363514e-01 7.93393393e-02 8.26424759e+01] [-4.15993200e-01 9.08736608e-01 -3.38738015e-02 -1.40792892e+01] [-8.62362509e-02 -2.33970442e-03 9.96271968e-01 -9.86368216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.366296757 meters 0.07158693363092428 Centerline is valid? [True, True] Translation: X:82.67, Y:-14.09, Z:-9.87 [[ 9.05350138e-01 4.17093086e-01 7.98403692e-02 8.26709695e+01] [-4.15702328e-01 9.08860843e-01 -3.41107333e-02 -1.40929953e+01] [-8.67911363e-02 -2.30767022e-03 9.96223857e-01 -9.86702019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.396296757 meters 0.07145864028029185 Centerline is valid? [True, True] Translation: X:82.70, Y:-14.11, Z:-9.87 [[ 9.05438983e-01 4.16578123e-01 8.15040789e-02 8.26992985e+01] [-4.15124503e-01 9.09097052e-01 -3.48453253e-02 -1.41086624e+01] [-8.86109181e-02 -2.28402440e-03 9.96063697e-01 -9.86814100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.426296757 meters 0.07148278313126617 Centerline is valid? [True, True] Translation: X:82.73, Y:-14.12, Z:-9.87 [[ 9.04689947e-01 4.17688271e-01 8.40988062e-02 8.27289633e+01] [-4.16142958e-01 9.08587102e-01 -3.59794048e-02 -1.41199788e+01] [-9.14392659e-02 -2.44692013e-03 9.95807649e-01 -9.87169800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.456296757 meters 0.07152902159966826 Centerline is valid? [True, True] Translation: X:82.76, Y:-14.13, Z:-9.88 [[ 9.04049335e-01 4.18994756e-01 8.44878381e-02 8.27584565e+01] [-4.17438569e-01 9.07985018e-01 -3.61697066e-02 -1.41315309e+01] [-9.18686086e-02 -2.56928301e-03 9.95767823e-01 -9.87506263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.486296757 meters 0.07188560404749049 Centerline is valid? [True, True] Translation: X:82.79, Y:-14.14, Z:-9.88 [[ 9.03454209e-01 4.20376524e-01 8.39885147e-02 8.27873748e+01] [-4.18842417e-01 9.07345823e-01 -3.59803785e-02 -1.41412188e+01] [-9.13319344e-02 -2.67132809e-03 9.95816922e-01 -9.87947557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.516296757 meters 0.07259121111620377 Centerline is valid? [True, True] Translation: X:82.82, Y:-14.15, Z:-9.88 [[ 9.01853092e-01 4.23699724e-01 8.44958247e-02 8.28169247e+01] [-4.22159397e-01 9.05797722e-01 -3.62205745e-02 -1.41505417e+01] [-9.18827730e-02 -3.00506928e-03 9.95765296e-01 -9.88473199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.54629675700001 meters 0.07244504642032859 Centerline is valid? [True, True] Translation: X:82.85, Y:-14.16, Z:-9.89 [[ 9.00888804e-01 4.26039783e-01 8.30028048e-02 8.28459622e+01] [-4.24561333e-01 9.04698892e-01 -3.56032275e-02 -1.41644080e+01] [-9.02609368e-02 -3.16523247e-03 9.95913121e-01 -9.88711093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.57629675700001 meters 0.07370020400776404 Centerline is valid? [True, True] Translation: X:82.88, Y:-14.17, Z:-9.89 [[ 8.99072625e-01 4.30074187e-01 8.18816795e-02 8.28760110e+01] [-4.28650856e-01 9.02786732e-01 -3.51363054e-02 -1.41716178e+01] [-8.90329118e-02 -3.50856168e-03 9.96022505e-01 -9.89297470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.60629675700001 meters 0.07379605376257778 Centerline is valid? [True, True] Translation: X:82.91, Y:-14.18, Z:-9.90 [[ 8.97975138e-01 4.32685967e-01 8.01467717e-02 8.29051750e+01] [-4.31331249e-01 9.01537229e-01 -3.44089904e-02 -1.41838065e+01] [-8.71435857e-02 -3.67138921e-03 9.96188996e-01 -9.89583064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.63629675700001 meters 0.07547741712615572 Centerline is valid? [True, True] Translation: X:82.94, Y:-14.19, Z:-9.90 [[ 8.96151414e-01 4.36919954e-01 7.75473895e-02 8.29356768e+01] [-4.35665536e-01 8.99491816e-01 -3.33168736e-02 -1.41884051e+01] [-8.43100490e-02 -3.92776165e-03 9.96431828e-01 -9.90160831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.666296757 meters 0.07598612731942644 Centerline is valid? [True, True] Translation: X:82.97, Y:-14.20, Z:-9.91 [[ 8.95506788e-01 4.38361963e-01 7.68529923e-02 8.29653557e+01] [-4.37134345e-01 8.98789547e-01 -3.30290001e-02 -1.41993822e+01] [-8.35533235e-02 -4.01738860e-03 9.96495210e-01 -9.90587926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.696296757 meters 0.07679330694674884 Centerline is valid? [True, True] Translation: X:82.99, Y:-14.21, Z:-9.91 [[ 8.94573047e-01 4.40546200e-01 7.52204125e-02 8.29947846e+01] [-4.39377716e-01 8.97720446e-01 -3.23299030e-02 -1.42100320e+01] [-8.17697181e-02 -4.12871327e-03 9.96642698e-01 -9.91028275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.726296757 meters 0.07798071793758021 Centerline is valid? [True, True] Translation: X:83.02, Y:-14.22, Z:-9.92 [[ 8.94672249e-01 4.40383612e-01 7.49922676e-02 8.30238880e+01] [-4.39219828e-01 8.97800433e-01 -3.22540775e-02 -1.42186205e+01] [-8.15322575e-02 -4.08126286e-03 9.96662347e-01 -9.91651856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.756296757 meters 0.0753340566866226 Centerline is valid? [True, True] Translation: X:83.05, Y:-14.24, Z:-9.91 [[ 8.94724059e-01 4.40508386e-01 7.36289382e-02 8.30500970e+01] [-4.39386384e-01 8.97739536e-01 -3.16753889e-02 -1.42387485e+01] [-8.00528833e-02 -4.01082037e-03 9.96782549e-01 -9.91471362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.786296757 meters 0.07653810393645522 Centerline is valid? [True, True] Translation: X:83.08, Y:-14.25, Z:-9.92 [[ 8.95470949e-01 4.39061023e-01 7.31928776e-02 8.30798771e+01] [-4.37945621e-01 8.98449049e-01 -3.15109584e-02 -1.42472787e+01] [-7.95953048e-02 -3.83735239e-03 9.96819874e-01 -9.92160984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.816296757 meters 0.07487528011771165 Centerline is valid? [True, True] Translation: X:83.11, Y:-14.26, Z:-9.92 [[ 8.96840153e-01 4.36227004e-01 7.33739859e-02 8.31071887e+01] [-4.35095346e-01 8.99829530e-01 -3.16046995e-02 -1.42648787e+01] [-7.98109026e-02 -3.58031629e-03 9.96803592e-01 -9.92259793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.846296757 meters 0.07497853551395013 Centerline is valid? [True, True] Translation: X:83.14, Y:-14.28, Z:-9.93 [[ 8.97843718e-01 4.33991101e-01 7.43530968e-02 8.31350252e+01] [-4.32821442e-01 9.00910636e-01 -3.20253853e-02 -1.42769003e+01] [-8.08842280e-02 -3.42782358e-03 9.96717609e-01 -9.92801824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.876296757 meters 0.07284626830379061 Centerline is valid? [True, True] Translation: X:83.16, Y:-14.30, Z:-9.93 [[ 8.99826391e-01 4.29457217e-01 7.66744101e-02 8.31607164e+01] [-4.28195321e-01 9.03081890e-01 -3.30434228e-02 -1.42991311e+01] [-8.34340075e-02 -3.09827970e-03 9.96508488e-01 -9.92536811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.906296757 meters 0.0724073409629742 Centerline is valid? [True, True] Translation: X:83.19, Y:-14.31, Z:-9.93 [[ 9.00670599e-01 4.27598211e-01 7.71507703e-02 8.31891650e+01] [-4.26311451e-01 9.03964184e-01 -3.32761218e-02 -1.43137912e+01] [-8.39703433e-02 -2.91943224e-03 9.96463977e-01 -9.92857475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.93629675700001 meters 0.0722227261047347 Centerline is valid? [True, True] Translation: X:83.22, Y:-14.33, Z:-9.93 [[ 9.01396675e-01 4.25969661e-01 7.76780642e-02 8.32168000e+01] [-4.24659104e-01 9.04733158e-01 -3.35045943e-02 -1.43270968e+01] [-8.45498611e-02 -2.78576730e-03 9.96415355e-01 -9.93272561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.96629675700001 meters 0.07159123999203754 Centerline is valid? [True, True] Translation: X:83.25, Y:-14.34, Z:-9.94 [[ 9.02113763e-01 4.24341955e-01 7.82602322e-02 8.32454153e+01] [-4.23003967e-01 9.05498180e-01 -3.37740829e-02 -1.43411086e+01] [-8.51962582e-02 -2.63632369e-03 9.96360701e-01 -9.93596807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.99629675700001 meters 0.07193076552740507 Centerline is valid? [True, True] Translation: X:83.27, Y:-14.35, Z:-9.94 [[ 9.02532952e-01 4.23362210e-01 7.87318834e-02 8.32738509e+01] [-4.22002038e-01 9.05956959e-01 -3.40039514e-02 -1.43516544e+01] [-8.57236856e-02 -2.53532860e-03 9.96315724e-01 -9.94164791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.026296757 meters 0.07197913529569779 Centerline is valid? [True, True] Translation: X:83.30, Y:-14.36, Z:-9.95 [[ 9.02520135e-01 4.23553109e-01 7.78470957e-02 8.33031351e+01] [-4.22223298e-01 9.05867779e-01 -3.36311372e-02 -1.43642202e+01] [-8.47637485e-02 -2.51607900e-03 9.96397901e-01 -9.94569043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.056296757 meters 0.07221525694034273 Centerline is valid? [True, True] Translation: X:83.33, Y:-14.38, Z:-9.95 [[ 9.02389303e-01 4.23600855e-01 7.90940043e-02 8.33318771e+01] [-4.22226259e-01 9.05845385e-01 -3.41924748e-02 -1.43760498e+01] [-8.61309003e-02 -2.54064205e-03 9.96280590e-01 -9.94986181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.086296757 meters 0.07228943849959184 Centerline is valid? [True, True] Translation: X:83.36, Y:-14.39, Z:-9.95 [[ 9.02163421e-01 4.24187005e-01 7.85273562e-02 8.33612031e+01] [-4.22832424e-01 9.05571002e-01 -3.39691166e-02 -1.43885486e+01] [-8.55213545e-02 -2.55821790e-03 9.96333053e-01 -9.95348850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.116296757 meters 0.07166172087257257 Centerline is valid? [True, True] Translation: X:83.39, Y:-14.40, Z:-9.95 [[ 9.01828290e-01 4.24778039e-01 7.91792428e-02 8.33899695e+01] [-4.23401213e-01 9.05293749e-01 -3.42730252e-02 -1.44028839e+01] [-8.62389020e-02 -2.61620368e-03 9.96271051e-01 -9.95379510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.146296757 meters 0.07187438427295484 Centerline is valid? [True, True] Translation: X:83.42, Y:-14.41, Z:-9.96 [[ 9.00743160e-01 4.27293338e-01 7.79882196e-02 8.34203620e+01] [-4.25965112e-01 9.04108734e-01 -3.37804597e-02 -1.44114072e+01] [-8.49439959e-02 -2.79274270e-03 9.96381813e-01 -9.95789425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.176296757 meters 0.07268350896874104 Centerline is valid? [True, True] Translation: X:83.45, Y:-14.42, Z:-9.96 [[ 8.99366333e-01 4.30364333e-01 7.69853170e-02 8.34498128e+01] [-4.29079445e-01 9.02650211e-01 -3.33680461e-02 -1.44189172e+01] [-8.38512296e-02 -3.02271976e-03 9.96473700e-01 -9.96260411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.206296757 meters 0.07245613189145632 Centerline is valid? [True, True] Translation: X:83.48, Y:-14.43, Z:-9.96 [[ 8.98671078e-01 4.32091271e-01 7.54150336e-02 8.34789033e+01] [-4.30862982e-01 9.01824542e-01 -3.27045133e-02 -1.44323430e+01] [-8.21424629e-02 -3.10294605e-03 9.96615767e-01 -9.96476806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.236296757 meters 0.07315100576074718 Centerline is valid? [True, True] Translation: X:83.51, Y:-14.44, Z:-9.97 [[ 8.97301596e-01 4.35197350e-01 7.38451931e-02 8.35085881e+01] [-4.34029112e-01 9.00329023e-01 -3.20371515e-02 -1.44427423e+01] [-8.04274540e-02 -3.30397641e-03 9.96754989e-01 -9.97067521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.266296757 meters 0.07377417408103272 Centerline is valid? [True, True] Translation: X:83.54, Y:-14.45, Z:-9.98 [[ 8.96242918e-01 4.37494330e-01 7.31255333e-02 8.35377400e+01] [-4.36354831e-01 8.99214521e-01 -3.17444080e-02 -1.44523031e+01] [-7.96435398e-02 -3.45797886e-03 9.96817410e-01 -9.97622237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.29629675700001 meters 0.07355710544239569 Centerline is valid? [True, True] Translation: X:83.57, Y:-14.46, Z:-9.98 [[ 8.95457736e-01 4.39216216e-01 7.24193264e-02 8.35668192e+01] [-4.38102760e-01 8.98374337e-01 -3.14566701e-02 -1.44640762e+01] [-7.88759439e-02 -3.55898820e-03 9.96878086e-01 -9.97976853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.32629675700001 meters 0.0742507942062972 Centerline is valid? [True, True] Translation: X:83.60, Y:-14.47, Z:-9.98 [[ 8.94438179e-01 4.41290572e-01 7.24083916e-02 8.35966624e+01] [-4.40182649e-01 8.97356544e-01 -3.14717078e-02 -1.44743954e+01] [-7.88643120e-02 -3.72342061e-03 9.96878406e-01 -9.98296831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.35629675700001 meters 0.07625746379634953 Centerline is valid? [True, True] Translation: X:83.63, Y:-14.48, Z:-9.99 [[ 8.94622576e-01 4.40795881e-01 7.31398513e-02 8.36267561e+01] [-4.39662163e-01 8.97599749e-01 -3.18099599e-02 -1.44826040e+01] [-7.96720115e-02 -3.69891691e-03 9.96814270e-01 -9.98923495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.38629675700001 meters 0.07463532045260454 Centerline is valid? [True, True] Translation: X:83.65, Y:-14.50, Z:-9.99 [[ 8.95053974e-01 4.39937788e-01 7.30282533e-02 8.36539340e+01] [-4.38803156e-01 8.98021038e-01 -3.17805814e-02 -1.45006668e+01] [-7.95623866e-02 -3.59969234e-03 9.96823389e-01 -9.98903638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.416296757 meters 0.07296750696702185 Centerline is valid? [True, True] Translation: X:83.68, Y:-14.52, Z:-9.99 [[ 8.96007324e-01 4.37635682e-01 7.51391141e-02 8.36807737e+01] [-4.36424439e-01 8.99145677e-01 -3.27224744e-02 -1.45185689e+01] [-8.18815321e-02 -3.47296903e-03 9.96636018e-01 -9.98710758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.446296757 meters 0.07393572360325283 Centerline is valid? [True, True] Translation: X:83.71, Y:-14.53, Z:-9.99 [[ 8.96570854e-01 4.36323609e-01 7.60421677e-02 8.37103480e+01] [-4.35076644e-01 8.99783482e-01 -3.31360694e-02 -1.45268070e+01] [-8.28795359e-02 -3.37533701e-03 9.96553857e-01 -9.99373920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.476296757 meters 0.07379595744431154 Centerline is valid? [True, True] Translation: X:83.74, Y:-14.54, Z:-10.00 [[ 8.96793433e-01 4.35715072e-01 7.69019776e-02 8.37396363e+01] [-4.34435793e-01 9.00078457e-01 -3.35307727e-02 -1.45401272e+01] [-8.38276763e-02 -3.33879488e-03 9.96474673e-01 -9.99712760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.506296757 meters 0.07252188123406193 Centerline is valid? [True, True] Translation: X:83.77, Y:-14.56, Z:-10.00 [[ 8.97484334e-01 4.34239311e-01 7.71886720e-02 8.37667196e+01] [-4.32943192e-01 9.00791887e-01 -3.36774348e-02 -1.45590844e+01] [-8.41549956e-02 -3.19333990e-03 9.96447560e-01 -9.99628936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.536296757 meters 0.07308387285970737 Centerline is valid? [True, True] Translation: X:83.80, Y:-14.57, Z:-10.00 [[ 8.97400356e-01 4.34475576e-01 7.68347317e-02 8.37959876e+01] [-4.33190368e-01 9.00677998e-01 -3.35447382e-02 -1.45707550e+01] [-8.37777218e-02 -3.18100574e-03 9.96479390e-01 -1.00010717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.566296757 meters 0.07293604391312097 Centerline is valid? [True, True] Translation: X:83.82, Y:-14.58, Z:-10.00 [[ 8.96947351e-01 4.35030291e-01 7.89562924e-02 8.38242362e+01] [-4.33672570e-01 9.00409787e-01 -3.45009759e-02 -1.45831473e+01] [-8.61019880e-02 -3.29561935e-03 9.96280877e-01 -1.00038924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.596296757 meters 0.07293604391312097 Centerline is valid? [True, True] Translation: X:83.85, Y:-14.60, Z:-10.01 [[ 8.96828282e-01 4.35277065e-01 7.89487768e-02 8.38537113e+01] [-4.33918786e-01 9.00290499e-01 -3.45181639e-02 -1.45961294e+01] [-8.61017987e-02 -3.30049180e-03 9.96280878e-01 -1.00076553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.626296757 meters 0.07318972128628497 Centerline is valid? [True, True] Translation: X:83.88, Y:-14.61, Z:-10.01 [[ 8.96185756e-01 4.36455262e-01 7.97364150e-02 8.38841369e+01] [-4.35071947e-01 8.99719449e-01 -3.48900356e-02 -1.46069532e+01] [-8.69683430e-02 -3.42312438e-03 9.96205195e-01 -1.00118659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.656296757 meters 0.07330171331666098 Centerline is valid? [True, True] Translation: X:83.91, Y:-14.62, Z:-10.02 [[ 8.95145936e-01 4.38605222e-01 7.96191684e-02 8.39143797e+01] [-4.37232373e-01 8.98672611e-01 -3.48624478e-02 -1.46176694e+01] [-8.68424176e-02 -3.60509947e-03 9.96215538e-01 -1.00166459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.68629675700001 meters 0.07374000316978103 Centerline is valid? [True, True] Translation: X:83.94, Y:-14.63, Z:-10.02 [[ 8.94601169e-01 4.39815943e-01 7.90612718e-02 8.39444382e+01] [-4.38465386e-01 8.98080396e-01 -3.46367935e-02 -1.46291993e+01] [-8.62371923e-02 -3.67951513e-03 9.96267839e-01 -1.00210028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.71629675700001 meters 0.07431349743968915 Centerline is valid? [True, True] Translation: X:83.97, Y:-14.64, Z:-10.02 [[ 8.93878404e-01 4.41416238e-01 7.83141330e-02 8.39740751e+01] [-4.40095185e-01 8.97294516e-01 -3.43333696e-02 -1.46415625e+01] [-8.54261489e-02 -3.77581525e-03 9.96337351e-01 -1.00246670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.74629675700001 meters 0.0749166555962384 Centerline is valid? [True, True] Translation: X:84.00, Y:-14.65, Z:-10.03 [[ 8.92566106e-01 4.43886091e-01 7.93150944e-02 8.40027946e+01] [-4.42538719e-01 8.96074099e-01 -3.47949928e-02 -1.46543913e+01] [-8.65172151e-02 -4.04316900e-03 9.96242151e-01 -1.00278864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.776296757 meters 0.07577173210173492 Centerline is valid? [True, True] Translation: X:84.03, Y:-14.66, Z:-10.03 [[ 8.91480608e-01 4.46097913e-01 7.91137037e-02 8.40328623e+01] [-4.44765055e-01 8.94974136e-01 -3.47180398e-02 -1.46628454e+01] [-8.62923637e-02 -4.23655152e-03 9.96260849e-01 -1.00322644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.806296757 meters 0.07648894789999651 Centerline is valid? [True, True] Translation: X:84.06, Y:-14.67, Z:-10.04 [[ 8.90699234e-01 4.47783218e-01 7.83904577e-02 8.40624264e+01] [-4.46480595e-01 8.94131555e-01 -3.44069984e-02 -1.46729178e+01] [-8.54982583e-02 -4.35353103e-03 9.96328808e-01 -1.00376889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.836296757 meters 0.07713159421091483 Centerline is valid? [True, True] Translation: X:84.09, Y:-14.68, Z:-10.04 [[ 8.89943079e-01 4.49435603e-01 7.75174433e-02 8.40927202e+01] [-4.48165924e-01 8.93301706e-01 -3.40494776e-02 -1.46827445e+01] [-8.45495118e-02 -4.43857966e-03 9.96409393e-01 -1.00427933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.866296757 meters 0.0787466265879671 Centerline is valid? [True, True] Translation: X:84.12, Y:-14.69, Z:-10.05 [[ 8.88000715e-01 4.53246196e-01 7.76055188e-02 8.41229495e+01] [-4.51987669e-01 8.91372438e-01 -3.40928617e-02 -1.46884075e+01] [-8.46278804e-02 -4.80225193e-03 9.96401054e-01 -1.00495008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.896296757 meters 0.07854371100327312 Centerline is valid? [True, True] Translation: X:84.15, Y:-14.70, Z:-10.05 [[ 8.86159958e-01 4.56569949e-01 7.91480263e-02 8.41514147e+01] [-4.55273379e-01 8.89672231e-01 -3.47774553e-02 -1.47019218e+01] [-8.62941422e-02 -5.21560112e-03 9.96256051e-01 -1.00512110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.926296757 meters 0.07850893906181337 Centerline is valid? [True, True] Translation: X:84.18, Y:-14.71, Z:-10.05 [[ 8.85589028e-01 4.57757862e-01 7.86753706e-02 8.41808920e+01] [-4.56479619e-01 8.89061221e-01 -3.45905148e-02 -1.47144942e+01] [-8.57813011e-02 -5.28072283e-03 9.96299996e-01 -1.00538022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.956296757 meters 0.07900435509792138 Centerline is valid? [True, True] Translation: X:84.21, Y:-14.72, Z:-10.06 [[ 8.85155370e-01 4.58294028e-01 8.04148903e-02 8.42112142e+01] [-4.56958901e-01 8.88784040e-01 -3.53764423e-02 -1.47241661e+01] [-8.76842833e-02 -5.43265194e-03 9.96133501e-01 -1.00575536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.986296757 meters 0.07887297419703794 Centerline is valid? [True, True] Translation: X:84.24, Y:-14.74, Z:-10.06 [[ 8.85192005e-01 4.58130592e-01 8.09411853e-02 8.42410788e+01] [-4.56775122e-01 8.88868306e-01 -3.56317635e-02 -1.47361294e+01] [-8.82700552e-02 -5.43096763e-03 9.96081775e-01 -1.00615122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.016296757 meters 0.0790881604626016 Centerline is valid? [True, True] Translation: X:84.27, Y:-14.75, Z:-10.07 [[ 8.85199379e-01 4.57999341e-01 8.16006327e-02 8.42711898e+01] [-4.56618950e-01 8.88935881e-01 -3.59462524e-02 -1.47476726e+01] [-8.90010902e-02 -5.44079487e-03 9.96016668e-01 -1.00656022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.04629675700001 meters 0.07953858028771735 Centerline is valid? [True, True] Translation: X:84.30, Y:-14.76, Z:-10.07 [[ 8.85547898e-01 4.57027572e-01 8.32509393e-02 8.42994066e+01] [-4.55583950e-01 8.89435966e-01 -3.67004930e-02 -1.47579105e+01] [-9.08195168e-02 -5.42774738e-03 9.95852577e-01 -1.00687641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.07629675700001 meters 0.07723096262387924 Centerline is valid? [True, True] Translation: X:84.33, Y:-14.78, Z:-10.07 [[ 8.85817516e-01 4.56621677e-01 8.26073445e-02 8.43259646e+01] [-4.55197396e-01 8.89644990e-01 -3.64297002e-02 -1.47775416e+01] [-9.01258010e-02 -5.33258153e-03 9.95916113e-01 -1.00691399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.10629675700001 meters 0.07766970549631594 Centerline is valid? [True, True] Translation: X:84.35, Y:-14.79, Z:-10.07 [[ 8.85953824e-01 4.56423270e-01 8.22412391e-02 8.43543040e+01] [-4.55008499e-01 8.89747192e-01 -3.62932664e-02 -1.47890226e+01] [-8.97390029e-02 -5.26630457e-03 9.95951393e-01 -1.00742795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.13629675700001 meters 0.07684345945181605 Centerline is valid? [True, True] Translation: X:84.38, Y:-14.80, Z:-10.08 [[ 8.86334858e-01 4.55557721e-01 8.29317964e-02 8.43820795e+01] [-4.54113218e-01 8.90191047e-01 -3.66208228e-02 -1.48042295e+01] [-9.05080413e-02 -5.20211319e-03 9.95882138e-01 -1.00775722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.166296757 meters 0.07683864483956786 Centerline is valid? [True, True] Translation: X:84.41, Y:-14.81, Z:-10.08 [[ 8.86556094e-01 4.54946425e-01 8.39168809e-02 8.44108212e+01] [-4.53462356e-01 8.90503749e-01 -3.70805218e-02 -1.48146892e+01] [-9.15979479e-02 -5.17918391e-03 9.95782603e-01 -1.00818838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.196296757 meters 0.07650954474856607 Centerline is valid? [True, True] Translation: X:84.44, Y:-14.83, Z:-10.09 [[ 8.86730251e-01 4.54468507e-01 8.46630903e-02 8.44402717e+01] [-4.52953195e-01 8.90747910e-01 -3.74374787e-02 -1.48280833e+01] [-9.24276258e-02 -5.15147238e-03 9.95706079e-01 -1.00855979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.226296757 meters 0.0808495132986941 Centerline is valid? [True, True] Translation: X:84.47, Y:-14.83, Z:-10.10 [[ 8.87471787e-01 4.52842800e-01 8.55992151e-02 8.44724973e+01] [-4.51285626e-01 8.91576176e-01 -3.78577203e-02 -1.48290491e+01] [-9.34618168e-02 -5.03203666e-03 9.95610148e-01 -1.00952472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.256296757 meters 0.07590919532550208 Centerline is valid? [True, True] Translation: X:84.50, Y:-14.86, Z:-10.09 [[ 8.88102457e-01 4.51678468e-01 8.52090823e-02 8.44963627e+01] [-4.50128216e-01 8.92167507e-01 -3.77058189e-02 -1.48564675e+01] [-9.30516810e-02 -4.86838176e-03 9.95649378e-01 -1.00925128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.286296757 meters 0.07637190808493444 Centerline is valid? [True, True] Translation: X:84.52, Y:-14.87, Z:-10.10 [[ 8.88993834e-01 4.50123240e-01 8.41369827e-02 8.45241224e+01] [-4.48602568e-01 8.92954474e-01 -3.72564471e-02 -1.48703184e+01] [-9.19004879e-02 -4.62331476e-03 9.95757463e-01 -1.00962310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.316296757 meters 0.07648384998257586 Centerline is valid? [True, True] Translation: X:84.55, Y:-14.88, Z:-10.10 [[ 8.89177011e-01 4.50506201e-01 8.00525206e-02 8.45523566e+01] [-4.49129183e-01 8.92762393e-01 -3.54723389e-02 -1.48844145e+01] [-8.74483885e-02 -4.41273485e-03 9.96159278e-01 -1.01011391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.346296757 meters 0.07699143935778005 Centerline is valid? [True, True] Translation: X:84.58, Y:-14.89, Z:-10.11 [[ 8.88916220e-01 4.51058511e-01 7.98384195e-02 8.45818230e+01] [-4.49690654e-01 8.92483283e-01 -3.53822602e-02 -1.48949264e+01] [-8.72139243e-02 -4.45072615e-03 9.96179664e-01 -1.01071025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.376296757 meters 0.07748443963941636 Centerline is valid? [True, True] Translation: X:84.61, Y:-14.91, Z:-10.11 [[ 8.88463496e-01 4.52073834e-01 7.91319476e-02 8.46120144e+01] [-4.50732149e-01 8.91969222e-01 -3.50918326e-02 -1.49050561e+01] [-8.64473610e-02 -4.48950060e-03 9.96246304e-01 -1.01123594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.406296757 meters 0.077452748110535 Centerline is valid? [True, True] Translation: X:84.64, Y:-14.92, Z:-10.11 [[ 8.87090797e-01 4.54615664e-01 7.99657190e-02 8.46408390e+01] [-4.53253694e-01 8.90674959e-01 -3.54852944e-02 -1.49178391e+01] [-8.73556341e-02 -4.76607943e-03 9.96165788e-01 -1.01146520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.43629675700001 meters 0.07872858253081429 Centerline is valid? [True, True] Translation: X:84.67, Y:-14.93, Z:-10.12 [[ 8.86558558e-01 4.55302967e-01 8.19337061e-02 8.46701302e+01] [-4.53873858e-01 8.90322905e-01 -3.63819406e-02 -1.49274875e+01] [-8.95122607e-02 -4.93284648e-03 9.95973505e-01 -1.01187353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.46629675700001 meters 0.07777185615284882 Centerline is valid? [True, True] Translation: X:84.70, Y:-14.94, Z:-10.12 [[ 8.85494959e-01 4.57361752e-01 8.19689325e-02 8.46980055e+01] [-4.55938037e-01 8.89265986e-01 -3.64213083e-02 -1.49443030e+01] [-8.95498970e-02 -5.12186927e-03 9.95969167e-01 -1.01195581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.49629675700001 meters 0.07858112185067309 Centerline is valid? [True, True] Translation: X:84.73, Y:-14.95, Z:-10.12 [[ 8.84548348e-01 4.59210813e-01 8.18513864e-02 8.47267550e+01] [-4.57797465e-01 8.88311596e-01 -3.63866593e-02 -1.49545120e+01] [-8.94186831e-02 -5.28559783e-03 9.95980101e-01 -1.01233835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.526296757 meters 0.08136834356698922 Centerline is valid? [True, True] Translation: X:84.76, Y:-14.96, Z:-10.13 [[ 8.84458024e-01 4.59320762e-01 8.22097385e-02 8.47575876e+01] [-4.57893835e-01 8.88254640e-01 -3.65640585e-02 -1.49596132e+01] [-8.98178129e-02 -5.30395749e-03 9.95944089e-01 -1.01302385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.556296757 meters 0.07942267661476755 Centerline is valid? [True, True] Translation: X:84.79, Y:-14.98, Z:-10.13 [[ 8.84358189e-01 4.59388033e-01 8.29049377e-02 8.47850151e+01] [-4.57934731e-01 8.88219679e-01 -3.68996425e-02 -1.49783827e+01] [-9.05890514e-02 -5.33254927e-03 9.95874082e-01 -1.01317540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.586296757 meters 0.0792674632481478 Centerline is valid? [True, True] Translation: X:84.81, Y:-14.99, Z:-10.14 [[ 8.84742577e-01 4.58725198e-01 8.24728084e-02 8.48132446e+01] [-4.57283789e-01 8.88562775e-01 -3.67114596e-02 -1.49926503e+01] [-9.01227391e-02 -5.23328694e-03 9.95916917e-01 -1.01357833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.616296757 meters 0.07894738126347785 Centerline is valid? [True, True] Translation: X:84.84, Y:-15.01, Z:-10.14 [[ 8.85557704e-01 4.57535131e-01 8.03066383e-02 8.48417463e+01] [-4.56161727e-01 8.89177728e-01 -3.57693559e-02 -1.50073484e+01] [-8.77726111e-02 -4.95698615e-03 9.96128203e-01 -1.01395545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.646296757 meters 0.07746976726649378 Centerline is valid? [True, True] Translation: X:84.87, Y:-15.03, Z:-10.14 [[ 8.87842668e-01 4.52797018e-01 8.19161571e-02 8.48682262e+01] [-4.51345221e-01 8.91602004e-01 -3.65151808e-02 -1.50262449e+01] [-8.95705748e-02 -4.55273048e-03 9.95970072e-01 -1.01418617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.676296757 meters 0.07691929541518502 Centerline is valid? [True, True] Translation: X:84.89, Y:-15.04, Z:-10.15 [[ 8.90303966e-01 4.48284740e-01 7.99977514e-02 8.48936488e+01] [-4.46881965e-01 8.93881866e-01 -3.56611756e-02 -1.50432390e+01] [-8.74949000e-02 -4.00026626e-03 9.96156936e-01 -1.01470871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.706296757 meters 0.07625752978946133 Centerline is valid? [True, True] Translation: X:84.92, Y:-15.06, Z:-10.15 [[ 8.91689344e-01 4.45502165e-01 8.01120099e-02 8.49204963e+01] [-4.44082061e-01 8.95273171e-01 -3.57361425e-02 -1.50598591e+01] [-8.76426620e-02 -3.71076903e-03 9.96145067e-01 -1.01516549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.736296757 meters 0.07514059975933911 Centerline is valid? [True, True] Translation: X:84.95, Y:-15.08, Z:-10.16 [[ 8.93135710e-01 4.42665046e-01 7.97261614e-02 8.49468361e+01] [-4.41247326e-01 8.96680541e-01 -3.55640931e-02 -1.50773078e+01] [-8.72318784e-02 -3.41539398e-03 9.96182179e-01 -1.01555624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.766296757 meters 0.07342993545657027 Centerline is valid? [True, True] Translation: X:84.97, Y:-15.10, Z:-10.16 [[ 8.95216776e-01 4.38061783e-01 8.17850769e-02 8.49720578e+01] [-4.36548867e-01 8.98939773e-01 -3.65016487e-02 -1.50989906e+01] [-8.95098358e-02 -3.02629439e-03 9.95981341e-01 -1.01583382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.79629675700001 meters 0.07366610457215335 Centerline is valid? [True, True] Translation: X:85.00, Y:-15.11, Z:-10.16 [[ 8.96220630e-01 4.35755336e-01 8.31015594e-02 8.49998759e+01] [-4.34181185e-01 9.00060740e-01 -3.71128374e-02 -1.51111812e+01] [-9.09685680e-02 -2.81984303e-03 9.95849772e-01 -1.01649122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.82629675700001 meters 0.07293945910518601 Centerline is valid? [True, True] Translation: X:85.02, Y:-15.13, Z:-10.17 [[ 8.98333486e-01 4.31490116e-01 8.25422746e-02 8.50233710e+01] [-4.29917179e-01 9.02114599e-01 -3.68845459e-02 -1.51319553e+01] [-9.03779079e-02 -2.35171916e-03 9.95904766e-01 -1.01673181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.85629675700001 meters 0.07269561562916689 Centerline is valid? [True, True] Translation: X:85.05, Y:-15.15, Z:-10.17 [[ 8.99754954e-01 4.28404788e-01 8.31285836e-02 8.50474848e+01] [-4.26794947e-01 9.03584618e-01 -3.71606082e-02 -1.51513799e+01] [-9.10334919e-02 -2.04341816e-03 9.95845735e-01 -1.01701046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.88629675700001 meters 0.07276349615454021 Centerline is valid? [True, True] Translation: X:85.08, Y:-15.17, Z:-10.17 [[ 8.99929177e-01 4.28203263e-01 8.22766169e-02 8.50755362e+01] [-4.26624351e-01 9.03680254e-01 -3.67921274e-02 -1.51676462e+01] [-9.01062631e-02 -1.99089938e-03 9.95930167e-01 -1.01741670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.916296757 meters 0.07212565723813404 Centerline is valid? [True, True] Translation: X:85.10, Y:-15.19, Z:-10.17 [[ 9.00187307e-01 4.27732811e-01 8.18990482e-02 8.51031883e+01] [-4.26164645e-01 9.03903185e-01 -3.66432327e-02 -1.51868350e+01] [-8.97023234e-02 -1.91670585e-03 9.95966776e-01 -1.01743466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.946296757 meters 0.07271159237237691 Centerline is valid? [True, True] Translation: X:85.13, Y:-15.20, Z:-10.18 [[ 9.00216908e-01 4.27556749e-01 8.24908745e-02 8.51306002e+01] [-4.25962493e-01 9.03986540e-01 -3.69362975e-02 -1.52003398e+01] [-9.03630035e-02 -1.88733904e-03 9.95907107e-01 -1.01834931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.976296757 meters 0.07244882604511362 Centerline is valid? [True, True] Translation: X:85.16, Y:-15.22, Z:-10.18 [[ 8.99911772e-01 4.28139165e-01 8.27989057e-02 8.51585483e+01] [-4.26533351e-01 9.03710751e-01 -3.70968922e-02 -1.52176256e+01] [-9.07088937e-02 -1.93256480e-03 9.95875575e-01 -1.01844675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.006296757 meters 0.07252176561222783 Centerline is valid? [True, True] Translation: X:85.19, Y:-15.23, Z:-10.19 [[ 8.98636500e-01 4.30495168e-01 8.44177111e-02 8.51861498e+01] [-4.28833092e-01 9.02590242e-01 -3.78554347e-02 -1.52349516e+01] [-9.24911841e-02 -2.18283269e-03 9.95711111e-01 -1.01866989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.036296757 meters 0.07293335617315702 Centerline is valid? [True, True] Translation: X:85.21, Y:-15.25, Z:-10.19 [[ 8.97444040e-01 4.32768103e-01 8.54749366e-02 8.52141813e+01] [-4.31073703e-01 9.01501973e-01 -3.83360789e-02 -1.52462384e+01] [-9.36464561e-02 -2.44151191e-03 9.95602521e-01 -1.01916003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.066296757 meters 0.07389659603091304 Centerline is valid? [True, True] Translation: X:85.24, Y:-15.26, Z:-10.20 [[ 8.94765549e-01 4.38495172e-01 8.43599262e-02 8.52443583e+01] [-4.36868050e-01 8.98728603e-01 -3.78577031e-02 -1.52552039e+01] [-9.24170986e-02 -2.98038792e-03 9.95715922e-01 -1.01966604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.096296757 meters 0.07417976041021748 Centerline is valid? [True, True] Translation: X:85.27, Y:-15.27, Z:-10.20 [[ 8.93150937e-01 4.41744827e-01 8.45157506e-02 8.52739655e+01] [-4.40125483e-01 8.97134612e-01 -3.79347770e-02 -1.52668109e+01] [-9.25794966e-02 -3.31605401e-03 9.95699774e-01 -1.02004780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.126296757 meters 0.07546539011423786 Centerline is valid? [True, True] Translation: X:85.30, Y:-15.28, Z:-10.21 [[ 8.90342009e-01 4.47144986e-01 8.57465390e-02 8.53040069e+01] [-4.45500807e-01 8.94452931e-01 -3.85095429e-02 -1.52764463e+01] [-9.39155922e-02 -3.91348858e-03 9.95572472e-01 -1.02052543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.156296757 meters 0.07554109155609202 Centerline is valid? [True, True] Translation: X:85.33, Y:-15.29, Z:-10.21 [[ 8.89145403e-01 4.49614012e-01 8.52507634e-02 8.53323237e+01] [-4.47999803e-01 8.93213325e-01 -3.82901080e-02 -1.52896666e+01] [-9.33628869e-02 -4.14685172e-03 9.95623511e-01 -1.02082165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.18629675700001 meters 0.0762966503756676 Centerline is valid? [True, True] Translation: X:85.36, Y:-15.30, Z:-10.21 [[ 8.87316719e-01 4.53251842e-01 8.50400390e-02 8.53619967e+01] [-4.51659723e-01 8.91371174e-01 -3.82220305e-02 -1.53007387e+01] [-9.31264452e-02 -4.49411386e-03 9.95644147e-01 -1.02142057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.21629675700001 meters 0.0774641719288833 Centerline is valid? [True, True] Translation: X:85.39, Y:-15.31, Z:-10.22 [[ 8.86007654e-01 4.55931361e-01 8.43624988e-02 8.53911962e+01] [-4.54375804e-01 8.90002375e-01 -3.79262601e-02 -1.53101274e+01] [-9.23745957e-02 -4.72932149e-03 9.95713095e-01 -1.02214632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.24629675700001 meters 0.07841219197480699 Centerline is valid? [True, True] Translation: X:85.42, Y:-15.32, Z:-10.23 [[ 8.85555773e-01 4.56807123e-01 8.43695703e-02 8.54203472e+01] [-4.55253091e-01 8.89552815e-01 -3.79527705e-02 -1.53214674e+01] [-9.23882847e-02 -4.80021268e-03 9.95711486e-01 -1.02253983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.276296757 meters 0.0780028655040273 Centerline is valid? [True, True] Translation: X:85.45, Y:-15.34, Z:-10.23 [[ 8.85171005e-01 4.57430163e-01 8.50290423e-02 8.54493012e+01] [-4.55852474e-01 8.89232138e-01 -3.82717421e-02 -1.53371117e+01] [-9.31172063e-02 -4.88366281e-03 9.95643177e-01 -1.02286366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.306296757 meters 0.07751066127561934 Centerline is valid? [True, True] Translation: X:85.48, Y:-15.35, Z:-10.23 [[ 8.85374233e-01 4.56524340e-01 8.77382215e-02 8.54765753e+01] [-4.54836786e-01 8.89697356e-01 -3.95235703e-02 -1.53532722e+01] [-9.61039355e-02 -4.91341999e-03 9.95359177e-01 -1.02295396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.336296757 meters 0.07798604692050205 Centerline is valid? [True, True] Translation: X:85.50, Y:-15.37, Z:-10.23 [[ 8.85525408e-01 4.56506897e-01 8.62913978e-02 8.55045667e+01] [-4.54872355e-01 8.89706876e-01 -3.88949284e-02 -1.53652487e+01] [-9.45298530e-02 -4.80912397e-03 9.95510411e-01 -1.02338589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.366296757 meters 0.07689163364725143 Centerline is valid? [True, True] Translation: X:85.53, Y:-15.38, Z:-10.24 [[ 8.85767314e-01 4.55995974e-01 8.65097531e-02 8.55317197e+01] [-4.54348265e-01 8.89969195e-01 -3.90190425e-02 -1.53837070e+01] [-9.47835416e-02 -4.74376377e-03 9.95486603e-01 -1.02361145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.396296757 meters 0.07716663225591791 Centerline is valid? [True, True] Translation: X:85.56, Y:-15.40, Z:-10.24 [[ 8.86356344e-01 4.55145483e-01 8.49412767e-02 8.55588034e+01] [-4.53550771e-01 8.90405490e-01 -3.83374780e-02 -1.53982297e+01] [-9.30813091e-02 -4.54451465e-03 9.95648139e-01 -1.02415221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.426296757 meters 0.07692341881628496 Centerline is valid? [True, True] Translation: X:85.59, Y:-15.41, Z:-10.24 [[ 8.86077676e-01 4.55861293e-01 8.40049663e-02 8.55871549e+01] [-4.54302715e-01 8.90039210e-01 -3.79374137e-02 -1.54138174e+01] [-9.20619123e-02 -4.54818891e-03 9.95742898e-01 -1.02443915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.456296757 meters 0.07734651653166466 Centerline is valid? [True, True] Translation: X:85.62, Y:-15.43, Z:-10.25 [[ 8.86458557e-01 4.55341472e-01 8.27971675e-02 8.56154660e+01] [-4.53822811e-01 8.90305978e-01 -3.74182052e-02 -1.54283118e+01] [-9.07528739e-02 -4.40555510e-03 9.95863699e-01 -1.02502135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.486296757 meters 0.07737985146381635 Centerline is valid? [True, True] Translation: X:85.64, Y:-15.44, Z:-10.25 [[ 8.86335728e-01 4.55423089e-01 8.36587567e-02 8.56444430e+01] [-4.53871475e-01 8.90264031e-01 -3.78237866e-02 -1.54423769e+01] [-9.17042077e-02 -4.44574991e-03 9.95776367e-01 -1.02536566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.516296757 meters 0.07737985146381635 Centerline is valid? [True, True] Translation: X:85.67, Y:-15.46, Z:-10.26 [[ 8.86209281e-01 4.55670720e-01 8.36498935e-02 8.56737346e+01] [-4.54118360e-01 8.90137289e-01 -3.78433766e-02 -1.54557578e+01] [-9.17040081e-02 -4.44980087e-03 9.95776368e-01 -1.02574208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.54629675700001 meters 0.07748208090600675 Centerline is valid? [True, True] Translation: X:85.70, Y:-15.47, Z:-10.26 [[ 8.85781526e-01 4.56691700e-01 8.26061729e-02 8.57016500e+01] [-4.55179743e-01 8.89613784e-01 -3.73994357e-02 -1.54705077e+01] [-9.05676019e-02 -4.47292730e-03 9.95880265e-01 -1.02612153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.57629675700001 meters 0.07809800431215269 Centerline is valid? [True, True] Translation: X:85.73, Y:-15.48, Z:-10.27 [[ 8.85690473e-01 4.56839370e-01 8.27657925e-02 8.57319221e+01] [-4.55319673e-01 8.89537965e-01 -3.74993985e-02 -1.54820552e+01] [-9.07545162e-02 -4.47203352e-03 9.95863253e-01 -1.02661177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.60629675700001 meters 0.07839867330241483 Centerline is valid? [True, True] Translation: X:85.76, Y:-15.49, Z:-10.27 [[ 8.84879901e-01 4.58230122e-01 8.37419688e-02 8.57603575e+01] [-4.56679581e-01 8.88821374e-01 -3.79516272e-02 -1.54938204e+01] [-9.18222305e-02 -4.66061508e-03 9.95764509e-01 -1.02695591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.63629675700001 meters 0.07866200737864802 Centerline is valid? [True, True] Translation: X:85.79, Y:-15.51, Z:-10.27 [[ 8.83859455e-01 4.59944008e-01 8.51115358e-02 8.57899603e+01] [-4.58347933e-01 8.87934415e-01 -3.85959346e-02 -1.55057368e+01] [-9.33254307e-02 -4.89731479e-03 9.95623614e-01 -1.02721994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.666296757 meters 0.08043928740460356 Centerline is valid? [True, True] Translation: X:85.82, Y:-15.51, Z:-10.28 [[ 8.82730578e-01 4.62038279e-01 8.54830662e-02 8.58195826e+01] [-4.60435327e-01 8.86845225e-01 -3.87924715e-02 -1.55145029e+01] [-9.37338559e-02 -5.11612270e-03 9.95584145e-01 -1.02761529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.696296757 meters 0.07826122660549942 Centerline is valid? [True, True] Translation: X:85.85, Y:-15.53, Z:-10.28 [[ 8.82199622e-01 4.63068162e-01 8.53914771e-02 8.58464515e+01] [-4.61472564e-01 8.86307349e-01 -3.87602376e-02 -1.55325519e+01] [-9.36317256e-02 -5.21155691e-03 9.95593260e-01 -1.02767462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.726296757 meters 0.07952880954887646 Centerline is valid? [True, True] Translation: X:85.88, Y:-15.54, Z:-10.28 [[ 8.81452749e-01 4.64516474e-01 8.52378812e-02 8.58756985e+01] [-4.62930856e-01 8.85548426e-01 -3.87170188e-02 -1.55415927e+01] [-9.34669646e-02 -5.33202268e-03 9.95608104e-01 -1.02817181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.756296757 meters 0.07929053381125786 Centerline is valid? [True, True] Translation: X:85.90, Y:-15.55, Z:-10.29 [[ 8.80246463e-01 4.66731394e-01 8.56035673e-02 8.59049933e+01] [-4.65140564e-01 8.84381564e-01 -3.89037959e-02 -1.55548084e+01] [-9.38638396e-02 -5.57276289e-03 9.95569447e-01 -1.02850046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.786296757 meters 0.08055112405970616 Centerline is valid? [True, True] Translation: X:85.93, Y:-15.57, Z:-10.29 [[ 8.79549877e-01 4.67926411e-01 8.62373922e-02 8.59341739e+01] [-4.66315031e-01 8.83748929e-01 -3.92189032e-02 -1.55652256e+01] [-9.45637636e-02 -5.71881073e-03 9.95502381e-01 -1.02895643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.816296757 meters 0.08058520877530688 Centerline is valid? [True, True] Translation: X:85.96, Y:-15.58, Z:-10.29 [[ 8.79180548e-01 4.68936924e-01 8.44968977e-02 8.59625049e+01] [-4.67392253e-01 8.83213356e-01 -3.84532136e-02 -1.55787095e+01] [-9.26609203e-02 -5.68587798e-03 9.95681488e-01 -1.02949857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.846296757 meters 0.08191433537352041 Centerline is valid? [True, True] Translation: X:85.99, Y:-15.59, Z:-10.30 [[ 8.79489638e-01 4.68387098e-01 8.43297278e-02 8.59913312e+01] [-4.66845039e-01 8.83505566e-01 -3.83878064e-02 -1.55900450e+01] [-9.24861371e-02 -5.60723716e-03 9.95698184e-01 -1.03002261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.876296757 meters 0.08049267968288533 Centerline is valid? [True, True] Translation: X:86.02, Y:-15.61, Z:-10.30 [[ 8.80180559e-01 4.66958651e-01 8.50400073e-02 8.60177461e+01] [-4.65381584e-01 8.84262159e-01 -3.87351987e-02 -1.56078468e+01] [-9.32853966e-02 -5.48208449e-03 9.95624317e-01 -1.03020362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.906296757 meters 0.07884883147174726 Centerline is valid? [True, True] Translation: X:86.04, Y:-15.63, Z:-10.30 [[ 8.81662248e-01 4.63941535e-01 8.61970595e-02 8.60437559e+01] [-4.62304588e-01 8.85850486e-01 -3.92859333e-02 -1.56278172e+01] [-9.45840832e-02 -5.21237179e-03 9.95503231e-01 -1.03036118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.93629675700001 meters 0.07853666737396826 Centerline is valid? [True, True] Translation: X:86.07, Y:-15.64, Z:-10.31 [[ 8.82582073e-01 4.62206870e-01 8.61028067e-02 8.60705652e+01] [-4.60562749e-01 8.86758050e-01 -3.92697669e-02 -1.56425865e+01] [-9.45031130e-02 -4.99695313e-03 9.95512025e-01 -1.03070715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.96629675700001 meters 0.07754704954109488 Centerline is valid? [True, True] Translation: X:86.10, Y:-15.66, Z:-10.31 [[ 8.83791246e-01 4.59815410e-01 8.65033112e-02 8.60982033e+01] [-4.58142220e-01 8.88001861e-01 -3.94765937e-02 -1.56588042e+01] [-9.49670475e-02 -4.74175110e-03 9.95469123e-01 -1.03113917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.99629675700001 meters 0.07721002194606769 Centerline is valid? [True, True] Translation: X:86.13, Y:-15.67, Z:-10.31 [[ 8.85376549e-01 4.56805137e-01 8.62405571e-02 8.61255692e+01] [-4.55127090e-01 8.89555916e-01 -3.93650073e-02 -1.56736143e+01] [-9.46979354e-02 -4.39755950e-03 9.95496340e-01 -1.03149298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.026296757 meters 0.07650399448250529 Centerline is valid? [True, True] Translation: X:86.15, Y:-15.69, Z:-10.32 [[ 8.86506829e-01 4.54748845e-01 8.54934446e-02 8.61526598e+01] [-4.53088112e-01 8.90610188e-01 -3.90468383e-02 -1.56908088e+01] [-9.38978374e-02 -4.12077462e-03 9.95573310e-01 -1.03193554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.056296757 meters 0.07625233840195883 Centerline is valid? [True, True] Translation: X:86.18, Y:-15.70, Z:-10.32 [[ 8.86960781e-01 4.53993276e-01 8.47978717e-02 8.61811162e+01] [-4.52353843e-01 8.90996192e-01 -3.87528867e-02 -1.57048526e+01] [-9.31481307e-02 -3.98635245e-03 9.95644281e-01 -1.03240751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.086296757 meters 0.07580172076281755 Centerline is valid? [True, True] Translation: X:86.21, Y:-15.72, Z:-10.33 [[ 8.87835261e-01 4.52250897e-01 8.49568966e-02 8.62072511e+01] [-4.50594915e-01 8.91882717e-01 -3.88515261e-02 -1.57202460e+01] [-9.33422253e-02 -3.78739081e-03 9.95626880e-01 -1.03291579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.116296757 meters 0.0755936938835213 Centerline is valid? [True, True] Translation: X:86.23, Y:-15.73, Z:-10.33 [[ 8.88365854e-01 4.51130328e-01 8.53670692e-02 8.62349083e+01] [-4.49451050e-01 8.92450545e-01 -3.90612111e-02 -1.57343255e+01] [-9.38075844e-02 -3.66767281e-03 9.95583590e-01 -1.03333764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.146296757 meters 0.07462037866952888 Centerline is valid? [True, True] Translation: X:86.26, Y:-15.75, Z:-10.33 [[ 8.89190600e-01 4.49207224e-01 8.69076877e-02 8.62611213e+01] [-4.47455215e-01 8.93420716e-01 -3.97901332e-02 -1.57532416e+01] [-9.55191439e-02 -3.50628564e-03 9.95421418e-01 -1.03344125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.176296757 meters 0.07444304425354084 Centerline is valid? [True, True] Translation: X:86.29, Y:-15.77, Z:-10.34 [[ 8.89390290e-01 4.48837713e-01 8.67733789e-02 8.62888190e+01] [-4.47087119e-01 8.93606666e-01 -3.97521728e-02 -1.57673619e+01] [-9.53835441e-02 -3.44006347e-03 9.95434652e-01 -1.03373747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.206296757 meters 0.074547472215053 Centerline is valid? [True, True] Translation: X:86.32, Y:-15.78, Z:-10.34 [[ 8.89013863e-01 4.49435343e-01 8.75341297e-02 8.63190171e+01] [-4.47654531e-01 8.93305950e-01 -4.01235722e-02 -1.57804569e+01] [-9.62277103e-02 -3.51463785e-03 9.95353141e-01 -1.03411686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.236296757 meters 0.07507509079287046 Centerline is valid? [True, True] Translation: X:86.35, Y:-15.79, Z:-10.35 [[ 8.88427698e-01 4.50759818e-01 8.66707107e-02 8.63486759e+01] [-4.49017515e-01 8.92638033e-01 -3.97569194e-02 -1.57915181e+01] [-9.52863945e-02 -3.59551880e-03 9.95443406e-01 -1.03460285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.266296757 meters 0.07647047723898512 Centerline is valid? [True, True] Translation: X:86.38, Y:-15.80, Z:-10.35 [[ 8.86934695e-01 4.54128099e-01 8.43475950e-02 8.63780792e+01] [-4.52490979e-01 8.90928176e-01 -3.87156240e-02 -1.58003132e+01] [-9.27295017e-02 -3.82829576e-03 9.95683978e-01 -1.03524469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.29629675700001 meters 0.07750041620431164 Centerline is valid? [True, True] Translation: X:86.41, Y:-15.81, Z:-10.36 [[ 8.86068491e-01 4.56049189e-01 8.30768672e-02 8.64083296e+01] [-4.54467293e-01 8.89945820e-01 -3.81564769e-02 -1.58108619e+01] [-9.13351411e-02 -3.94646705e-03 9.95812391e-01 -1.03578809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.32629675700001 meters 0.07794621040560246 Centerline is valid? [True, True] Translation: X:86.44, Y:-15.82, Z:-10.36 [[ 8.85028019e-01 4.58158409e-01 8.25607562e-02 8.64378409e+01] [-4.56604747e-01 8.88860952e-01 -3.79251068e-02 -1.58234964e+01] [-9.07607389e-02 -4.13285107e-03 9.95864151e-01 -1.03619870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.35629675700001 meters 0.07891713484514323 Centerline is valid? [True, True] Translation: X:86.47, Y:-15.83, Z:-10.36 [[ 8.83620298e-01 4.60796362e-01 8.29571075e-02 8.64683302e+01] [-4.59237478e-01 8.87494950e-01 -3.81267831e-02 -1.58337848e+01] [-9.11926970e-02 -4.40741339e-03 9.95823512e-01 -1.03648070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.38629675700001 meters 0.07993136982391279 Centerline is valid? [True, True] Translation: X:86.50, Y:-15.84, Z:-10.37 [[ 8.82917346e-01 4.62223933e-01 8.24984616e-02 8.64987982e+01] [-4.60687204e-01 8.86751731e-01 -3.79297810e-02 -1.58442173e+01] [-9.06877062e-02 -4.51712400e-03 9.95869136e-01 -1.03692368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.416296757 meters 0.08137260045811566 Centerline is valid? [True, True] Translation: X:86.53, Y:-15.85, Z:-10.37 [[ 8.80895063e-01 4.65609937e-01 8.50368960e-02 8.65307954e+01] [-4.63991875e-01 8.84975876e-01 -3.91054928e-02 -1.58517005e+01] [-9.34635075e-02 -5.00859328e-03 9.95610108e-01 -1.03716004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.446296757 meters 0.08325431929236915 Centerline is valid? [True, True] Translation: X:86.56, Y:-15.86, Z:-10.37 [[ 8.79139752e-01 4.68773984e-01 8.58152001e-02 8.65609828e+01] [-4.67140317e-01 8.83301723e-01 -3.94713950e-02 -1.58603731e+01] [-9.43038771e-02 -5.38686737e-03 9.95528885e-01 -1.03739385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.476296757 meters 0.07975277331548503 Centerline is valid? [True, True] Translation: X:86.59, Y:-15.88, Z:-10.37 [[ 8.78700700e-01 4.69760456e-01 8.49128610e-02 8.65861055e+01] [-4.68163587e-01 8.82777314e-01 -3.90777387e-02 -1.58821843e+01] [-9.33163237e-02 -5.41547326e-03 9.95621784e-01 -1.03739793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.506296757 meters 0.07986957027226087 Centerline is valid? [True, True] Translation: X:86.61, Y:-15.89, Z:-10.38 [[ 8.78779658e-01 4.70109538e-01 8.21178109e-02 8.66141479e+01] [-4.68615205e-01 8.82592484e-01 -3.78192660e-02 -1.58947302e+01] [-9.02557603e-02 -5.24685318e-03 9.95904799e-01 -1.03800570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.536296757 meters 0.08106419793388783 Centerline is valid? [True, True] Translation: X:86.64, Y:-15.90, Z:-10.39 [[ 8.78388254e-01 4.71064942e-01 8.08201476e-02 8.66429219e+01] [-4.69620643e-01 8.82082903e-01 -3.72317436e-02 -1.59044967e+01] [-8.88286396e-02 -5.25088351e-03 9.96033082e-01 -1.03866903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.566296757 meters 0.08086490025149513 Centerline is valid? [True, True] Translation: X:86.67, Y:-15.92, Z:-10.39 [[ 8.78784471e-01 4.70467296e-01 7.99898586e-02 8.66707316e+01] [-4.69048307e-01 8.82402585e-01 -3.68695534e-02 -1.59176261e+01] [-8.79291771e-02 -5.11871676e-03 9.96113577e-01 -1.03915181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.596296757 meters 0.07978888500559406 Centerline is valid? [True, True] Translation: X:86.70, Y:-15.93, Z:-10.39 [[ 8.79509225e-01 4.69195884e-01 7.94905414e-02 8.66984125e+01] [-4.67787547e-01 8.83080294e-01 -3.66606733e-02 -1.59339790e+01] [-8.73975677e-02 -4.94128501e-03 9.96161256e-01 -1.03943920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.626296757 meters 0.07836258609661971 Centerline is valid? [True, True] Translation: X:86.73, Y:-15.95, Z:-10.40 [[ 8.81574158e-01 4.65396111e-01 7.89522867e-02 8.67255350e+01] [-4.63989562e-01 8.85091013e-01 -3.64360366e-02 -1.59513398e+01] [-8.68371492e-02 -4.51196861e-03 9.96212303e-01 -1.03969181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.656296757 meters 0.07755986032441325 Centerline is valid? [True, True] Translation: X:86.75, Y:-15.97, Z:-10.40 [[ 8.82636954e-01 4.63381258e-01 7.89291927e-02 8.67527648e+01] [-4.61965433e-01 8.86148631e-01 -3.64491835e-02 -1.59673849e+01] [-8.68328645e-02 -4.29116237e-03 9.96213652e-01 -1.04006897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.68629675700001 meters 0.0769818615833215 Centerline is valid? [True, True] Translation: X:86.78, Y:-15.98, Z:-10.40 [[ 8.84471228e-01 4.59786641e-01 7.94159436e-02 8.67791638e+01] [-4.58336869e-01 8.88020665e-01 -3.66962235e-02 -1.59832446e+01] [-8.73954324e-02 -3.94250112e-03 9.96165897e-01 -1.04038529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.71629675700001 meters 0.07661224592564346 Centerline is valid? [True, True] Translation: X:86.81, Y:-16.00, Z:-10.41 [[ 8.85165727e-01 4.58189822e-01 8.08932809e-02 8.68068903e+01] [-4.56676875e-01 8.88846091e-01 -3.74013136e-02 -1.59973594e+01] [-8.90385778e-02 -3.83572979e-03 9.96020792e-01 -1.04071534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.74629675700001 meters 0.07529443057822578 Centerline is valid? [True, True] Translation: X:86.83, Y:-16.01, Z:-10.41 [[ 8.86120917e-01 4.56068966e-01 8.24064248e-02 8.68346218e+01] [-4.54487327e-01 8.89936876e-01 -3.81264467e-02 -1.60135385e+01] [-9.07248054e-02 -3.66803381e-03 9.95869246e-01 -1.04083727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.776296757 meters 0.07426833277506707 Centerline is valid? [True, True] Translation: X:86.86, Y:-16.03, Z:-10.41 [[ 8.86445356e-01 4.55523903e-01 8.19304896e-02 8.68621031e+01] [-4.53957652e-01 8.90216331e-01 -3.79122043e-02 -1.60305927e+01] [-9.02057751e-02 -3.58587531e-03 9.95916693e-01 -1.04098523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.806296757 meters 0.075006180517817 Centerline is valid? [True, True] Translation: X:86.89, Y:-16.04, Z:-10.42 [[ 8.87127352e-01 4.54273954e-01 8.14876433e-02 8.68907149e+01] [-4.52717144e-01 8.90855484e-01 -3.77318745e-02 -1.60418275e+01] [-8.97343217e-02 -3.41787520e-03 9.95959874e-01 -1.04159946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.836296757 meters 0.07392753995687718 Centerline is valid? [True, True] Translation: X:86.92, Y:-16.06, Z:-10.42 [[ 8.87285606e-01 4.54092797e-01 8.07711950e-02 8.69190589e+01] [-4.52560724e-01 8.90948091e-01 -3.74204462e-02 -1.60596920e+01] [-8.89552971e-02 -3.35124724e-03 9.96029982e-01 -1.04180307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.866296757 meters 0.07379945511242841 Centerline is valid? [True, True] Translation: X:86.95, Y:-16.08, Z:-10.42 [[ 8.87571099e-01 4.53894576e-01 7.87226636e-02 8.69465461e+01] [-4.52436250e-01 8.91049567e-01 -3.64980737e-02 -1.60756368e+01] [-8.67120730e-02 -3.22235129e-03 9.96228203e-01 -1.04231909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.896296757 meters 0.07363344303027185 Centerline is valid? [True, True] Translation: X:86.97, Y:-16.09, Z:-10.43 [[ 8.87613816e-01 4.53945953e-01 7.79409115e-02 8.69746303e+01] [-4.52514711e-01 8.91023565e-01 -3.61585835e-02 -1.60896689e+01] [-8.58612315e-02 -3.17455078e-03 9.96302048e-01 -1.04272392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.926296757 meters 0.07418135260707132 Centerline is valid? [True, True] Translation: X:87.00, Y:-16.10, Z:-10.43 [[ 8.86969387e-01 4.55178574e-01 7.80882328e-02 8.70030888e+01] [-4.53744272e-01 8.90394147e-01 -3.62546303e-02 -1.61002614e+01] [-8.60316364e-02 -3.27534109e-03 9.96287022e-01 -1.04318260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.956296757 meters 0.07404475605007096 Centerline is valid? [True, True] Translation: X:87.03, Y:-16.11, Z:-10.43 [[ 8.86466022e-01 4.56092576e-01 7.84700793e-02 8.70320657e+01] [-4.54647076e-01 8.89925941e-01 -3.64397487e-02 -1.61139376e+01] [-8.64524580e-02 -3.37359300e-03 9.96250265e-01 -1.04347650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.986296757 meters 0.07476293372796503 Centerline is valid? [True, True] Translation: X:87.06, Y:-16.12, Z:-10.44 [[ 8.85451854e-01 4.57732843e-01 8.03471149e-02 8.70619109e+01] [-4.56221547e-01 8.89082518e-01 -3.73386620e-02 -1.61248359e+01] [-8.85263472e-02 -3.59449755e-03 9.96067350e-01 -1.04382510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.016296757 meters 0.0744751121260689 Centerline is valid? [True, True] Translation: X:87.09, Y:-16.14, Z:-10.44 [[ 8.84707746e-01 4.59176425e-01 8.03070007e-02 8.70905656e+01] [-4.57670783e-01 8.88337311e-01 -3.73400116e-02 -1.61392551e+01] [-8.84853581e-02 -3.71917038e-03 9.96070534e-01 -1.04400128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.04629675700001 meters 0.07578786872989673 Centerline is valid? [True, True] Translation: X:87.12, Y:-16.15, Z:-10.45 [[ 8.83320384e-01 4.61990731e-01 7.94333891e-02 8.71201808e+01] [-4.60528372e-01 8.86875955e-01 -3.69412957e-02 -1.61473587e+01] [-8.75140990e-02 -3.95032984e-03 9.96155448e-01 -1.04455619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.07629675700001 meters 0.07621312973564738 Centerline is valid? [True, True] Translation: X:87.15, Y:-16.16, Z:-10.45 [[ 8.82545926e-01 4.63637485e-01 7.84408775e-02 8.71496754e+01] [-4.62217250e-01 8.86015713e-01 -3.64879425e-02 -1.61593901e+01] [-8.64170279e-02 -4.05444164e-03 9.96250801e-01 -1.04499226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.10629675700001 meters 0.07810561041454779 Centerline is valid? [True, True] Translation: X:87.18, Y:-16.17, Z:-10.46 [[ 8.81157129e-01 4.66316551e-01 7.81728155e-02 8.71790395e+01] [-4.64914357e-01 8.84607571e-01 -3.63879884e-02 -1.61672736e+01] [-8.61205856e-02 -4.28012886e-03 9.96275527e-01 -1.04567458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.13629675700001 meters 0.07933898582946196 Centerline is valid? [True, True] Translation: X:87.21, Y:-16.18, Z:-10.46 [[ 8.81064353e-01 4.66482483e-01 7.82285068e-02 8.72084761e+01] [-4.65077063e-01 8.84520081e-01 -3.64355992e-02 -1.61778912e+01] [-8.61912539e-02 -4.28017653e-03 9.96269415e-01 -1.04636960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.166296757 meters 0.0778075585891901 Centerline is valid? [True, True] Translation: X:87.23, Y:-16.20, Z:-10.47 [[ 8.80889244e-01 4.66851771e-01 7.79972029e-02 8.72349461e+01] [-4.65454905e-01 8.84325172e-01 -3.63417306e-02 -1.61960939e+01] [-8.59410912e-02 -4.29114113e-03 9.96290979e-01 -1.04657500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.196296757 meters 0.07827921900300876 Centerline is valid? [True, True] Translation: X:87.26, Y:-16.21, Z:-10.47 [[ 8.81123556e-01 4.66405462e-01 7.80206677e-02 8.72629806e+01] [-4.65003947e-01 8.84560949e-01 -3.63766025e-02 -1.62083552e+01] [-8.59802819e-02 -4.22763701e-03 9.96287869e-01 -1.04699636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.226296757 meters 0.07766322857700357 Centerline is valid? [True, True] Translation: X:87.29, Y:-16.22, Z:-10.47 [[ 8.81800101e-01 4.64853988e-01 7.96200488e-02 8.72906717e+01] [-4.63385800e-01 8.85377686e-01 -3.71477182e-02 -1.62249335e+01] [-8.77620796e-02 -4.13793832e-03 9.96132870e-01 -1.04729208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.256296757 meters 0.07736034266953984 Centerline is valid? [True, True] Translation: X:87.32, Y:-16.24, Z:-10.48 [[ 8.82143021e-01 4.64064861e-01 8.04207392e-02 8.73193942e+01] [-4.62562447e-01 8.85791788e-01 -3.75351899e-02 -1.62403257e+01] [-8.86547930e-02 -4.08820817e-03 9.96054022e-01 -1.04755836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.286296757 meters 0.07595940971033949 Centerline is valid? [True, True] Translation: X:87.35, Y:-16.26, Z:-10.48 [[ 8.82671806e-01 4.62829887e-01 8.17250188e-02 8.73471604e+01] [-4.61272173e-01 8.86438000e-01 -3.81530347e-02 -1.62580361e+01] [-9.01025270e-02 -4.02086896e-03 9.95924378e-01 -1.04760533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.316296757 meters 0.07525932711483277 Centerline is valid? [True, True] Translation: X:87.37, Y:-16.27, Z:-10.48 [[ 8.83092007e-01 4.61829932e-01 8.28349013e-02 8.73749087e+01] [-4.60224868e-01 8.86959614e-01 -3.86744654e-02 -1.62734187e+01] [-9.13322378e-02 -3.96957030e-03 9.95812565e-01 -1.04785111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.346296757 meters 0.07455331248139528 Centerline is valid? [True, True] Translation: X:87.40, Y:-16.29, Z:-10.48 [[ 8.84246418e-01 4.59546554e-01 8.32180066e-02 8.74012575e+01] [-4.57914063e-01 8.88145862e-01 -3.88798007e-02 -1.62892271e+01] [-9.17768066e-02 -3.72737105e-03 9.95772627e-01 -1.04818332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.376296757 meters 0.07403266556094636 Centerline is valid? [True, True] Translation: X:87.43, Y:-16.31, Z:-10.48 [[ 8.84805071e-01 4.58596552e-01 8.25178090e-02 8.74282596e+01] [-4.56985616e-01 8.88637372e-01 -3.85716068e-02 -1.63062987e+01] [-9.10172148e-02 -3.58109840e-03 9.95842880e-01 -1.04843216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.406296757 meters 0.07403266556094636 Centerline is valid? [True, True] Translation: X:87.46, Y:-16.32, Z:-10.49 [[ 8.84673583e-01 4.58851829e-01 8.25084837e-02 8.74573546e+01] [-4.57240143e-01 8.88505568e-01 -3.85915427e-02 -1.63200396e+01] [-9.10170471e-02 -3.58527256e-03 9.95842881e-01 -1.04880843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.43629675700001 meters 0.07401314290443242 Centerline is valid? [True, True] Translation: X:87.49, Y:-16.33, Z:-10.49 [[ 8.85389170e-01 4.57399150e-01 8.28977372e-02 8.74857702e+01] [-4.55762683e-01 8.89254919e-01 -3.88080607e-02 -1.63341880e+01] [-9.14679945e-02 -3.42145849e-03 9.95802139e-01 -1.04925215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.46629675700001 meters 0.07366929557260193 Centerline is valid? [True, True] Translation: X:87.51, Y:-16.35, Z:-10.50 [[ 8.86219993e-01 4.55838224e-01 8.26174194e-02 8.75132957e+01] [-4.54205604e-01 8.90056731e-01 -3.86818328e-02 -1.63493254e+01] [-9.11668482e-02 -3.24468126e-03 9.95830346e-01 -1.04971883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.49629675700001 meters 0.07362875653169797 Centerline is valid? [True, True] Translation: X:87.54, Y:-16.36, Z:-10.50 [[ 8.86481474e-01 4.55334486e-01 8.25899634e-02 8.75416894e+01] [-4.53698454e-01 8.90314811e-01 -3.86943181e-02 -1.63630553e+01] [-9.11499251e-02 -3.16914249e-03 9.95832138e-01 -1.05015136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.526296757 meters 0.07344366354406125 Centerline is valid? [True, True] Translation: X:87.57, Y:-16.38, Z:-10.51 [[ 8.86657134e-01 4.54854052e-01 8.33481744e-02 8.75711612e+01] [-4.53182923e-01 8.90560523e-01 -3.90793274e-02 -1.63763516e+01] [-9.20019841e-02 -3.12200490e-03 9.95753929e-01 -1.05055425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.556296757 meters 0.07356935879708555 Centerline is valid? [True, True] Translation: X:87.60, Y:-16.39, Z:-10.51 [[ 8.86280764e-01 4.55538219e-01 8.36142253e-02 8.76002427e+01] [-4.53858573e-01 8.90210493e-01 -3.92131853e-02 -1.63888970e+01] [-9.22973653e-02 -3.19514108e-03 9.95726362e-01 -1.05088071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.586296757 meters 0.07332869429644208 Centerline is valid? [True, True] Translation: X:87.63, Y:-16.40, Z:-10.51 [[ 8.85318683e-01 4.57065053e-01 8.54538914e-02 8.76297664e+01] [-4.55317171e-01 8.89426675e-01 -4.00806990e-02 -1.64035188e+01] [-9.43244573e-02 -3.42443249e-03 9.95535620e-01 -1.05096613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.616296757 meters 0.0742664821707361 Centerline is valid? [True, True] Translation: X:87.66, Y:-16.41, Z:-10.51 [[ 8.84964564e-01 4.57830618e-01 8.50226180e-02 8.76596177e+01] [-4.56100919e-01 8.89032707e-01 -3.99098734e-02 -1.64130016e+01] [-9.38598502e-02 -3.46007056e-03 9.95579407e-01 -1.05147169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.646296757 meters 0.07411760744750948 Centerline is valid? [True, True] Translation: X:87.69, Y:-16.43, Z:-10.52 [[ 8.84396707e-01 4.58700456e-01 8.62343153e-02 8.76900480e+01] [-4.56922855e-01 8.88583738e-01 -4.05024058e-02 -1.64257255e+01] [-9.52048823e-02 -3.58223527e-03 9.95451253e-01 -1.05170920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.676296757 meters 0.07477962772830747 Centerline is valid? [True, True] Translation: X:87.72, Y:-16.44, Z:-10.52 [[ 8.83914296e-01 4.59744939e-01 8.56160573e-02 8.77193135e+01] [-4.57994486e-01 8.88043555e-01 -4.02454464e-02 -1.64361731e+01] [-9.45334281e-02 -3.63815676e-03 9.95515040e-01 -1.05223883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.706296757 meters 0.07544773648103423 Centerline is valid? [True, True] Translation: X:87.75, Y:-16.45, Z:-10.53 [[ 8.82772383e-01 4.62034741e-01 8.50694947e-02 8.77502458e+01] [-4.60316173e-01 8.86853475e-01 -3.99991802e-02 -1.64451980e+01] [-9.39251878e-02 -3.84869266e-03 9.95571819e-01 -1.05274226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.736296757 meters 0.07559095824252765 Centerline is valid? [True, True] Translation: X:87.78, Y:-16.46, Z:-10.53 [[ 8.81739571e-01 4.64211690e-01 8.39216116e-02 8.77792974e+01] [-4.62546697e-01 8.85715242e-01 -3.94849727e-02 -1.64569803e+01] [-9.26600364e-02 -4.00220142e-03 9.95689761e-01 -1.05317293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.766296757 meters 0.0762564611428169 Centerline is valid? [True, True] Translation: X:87.81, Y:-16.47, Z:-10.54 [[ 8.81004027e-01 4.65720555e-01 8.32842703e-02 8.78084439e+01] [-4.64085288e-01 8.84922309e-01 -3.92090922e-02 -1.64666941e+01] [-9.19605889e-02 -4.10763650e-03 9.95754175e-01 -1.05360486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.79629675700001 meters 0.07670666153163146 Centerline is valid? [True, True] Translation: X:87.84, Y:-16.48, Z:-10.54 [[ 8.79970985e-01 4.67250566e-01 8.56035903e-02 8.78401212e+01] [-4.65527715e-01 8.84114159e-01 -4.03249377e-02 -1.64772108e+01] [-9.45251962e-02 -4.36606860e-03 9.95512895e-01 -1.05391511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.82629675700001 meters 0.07649564278556585 Centerline is valid? [True, True] Translation: X:87.87, Y:-16.49, Z:-10.54 [[ 8.79668689e-01 4.67692583e-01 8.62939484e-02 8.78697724e+01] [-4.65941009e-01 8.83880132e-01 -4.06803186e-02 -1.64913862e+01] [-9.52993897e-02 -4.42268691e-03 9.95438831e-01 -1.05408602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.85629675700001 meters 0.07640022040205784 Centerline is valid? [True, True] Translation: X:87.90, Y:-16.50, Z:-10.54 [[ 8.79197208e-01 4.68549941e-01 8.64477980e-02 8.78998661e+01] [-4.66793259e-01 8.83425569e-01 -4.07837860e-02 -1.65035073e+01] [-9.54794357e-02 -4.49625856e-03 9.95421248e-01 -1.05432130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.88629675700001 meters 0.07760452455970869 Centerline is valid? [True, True] Translation: X:87.93, Y:-16.51, Z:-10.55 [[ 8.78980470e-01 4.68934509e-01 8.65665043e-02 8.79311296e+01] [-4.67172333e-01 8.83221369e-01 -4.08659414e-02 -1.65104489e+01] [-9.56208366e-02 -4.52111145e-03 9.95407562e-01 -1.05504449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.916296757 meters 0.07703862516777045 Centerline is valid? [True, True] Translation: X:87.96, Y:-16.52, Z:-10.55 [[ 8.78722995e-01 4.69598442e-01 8.55757023e-02 8.79597614e+01] [-4.67876928e-01 8.82868570e-01 -4.04260779e-02 -1.65247111e+01] [-9.45361211e-02 -4.51557244e-03 9.95511191e-01 -1.05549967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.946296757 meters 0.07708536750906853 Centerline is valid? [True, True] Translation: X:87.99, Y:-16.54, Z:-10.56 [[ 8.78924895e-01 4.69254077e-01 8.53910988e-02 8.79892791e+01] [-4.67535931e-01 8.83052006e-01 -4.03646926e-02 -1.65364986e+01] [-9.43460777e-02 -4.44587364e-03 9.95529533e-01 -1.05602634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.976296757 meters 0.07609328117185746 Centerline is valid? [True, True] Translation: X:88.02, Y:-16.55, Z:-10.56 [[ 8.80199845e-01 4.66913126e-01 8.50903350e-02 8.80167701e+01] [-4.65193746e-01 8.84293420e-01 -4.02483016e-02 -1.65517040e+01] [-9.40372837e-02 -4.15694291e-03 9.95559998e-01 -1.05640057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.006296757 meters 0.07571308157440956 Centerline is valid? [True, True] Translation: X:88.04, Y:-16.57, Z:-10.57 [[ 8.81101283e-01 4.65038812e-01 8.60199557e-02 8.80449508e+01] [-4.63270344e-01 8.85281353e-01 -4.07125878e-02 -1.65664092e+01] [-9.50847963e-02 -3.97858113e-03 9.95461226e-01 -1.05665238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.036296757 meters 0.07417632542342141 Centerline is valid? [True, True] Translation: X:88.07, Y:-16.58, Z:-10.57 [[ 8.83890471e-01 4.59535277e-01 8.69768096e-02 8.80709854e+01] [-4.57698175e-01 8.88153004e-01 -4.11900759e-02 -1.65843872e+01] [-9.61770077e-02 -3.40161144e-03 9.95358434e-01 -1.05680788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.066296757 meters 0.0731641787962511 Centerline is valid? [True, True] Translation: X:88.10, Y:-16.60, Z:-10.57 [[ 8.85392894e-01 4.56368089e-01 8.83605693e-02 8.80981075e+01] [-4.54453770e-01 8.89785736e-01 -4.18702234e-02 -1.66013524e+01] [-9.77302080e-02 -3.08419557e-03 9.95208166e-01 -1.05700024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.096296757 meters 0.07284668045453095 Centerline is valid? [True, True] Translation: X:88.13, Y:-16.62, Z:-10.57 [[ 8.86300310e-01 4.54599440e-01 8.83804807e-02 8.81267161e+01] [-4.52673414e-01 8.90691365e-01 -4.19007489e-02 -1.66161985e+01] [-9.77677880e-02 -2.87084716e-03 9.95205113e-01 -1.05734665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.126296757 meters 0.07238443667867037 Centerline is valid? [True, True] Translation: X:88.16, Y:-16.63, Z:-10.58 [[ 8.87937137e-01 4.51235543e-01 8.91859059e-02 8.81551581e+01] [-4.49254208e-01 8.92401398e-01 -4.23131245e-02 -1.66311556e+01] [-9.86828129e-02 -2.49574894e-03 9.95115809e-01 -1.05758634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.156296757 meters 0.07176310809908151 Centerline is valid? [True, True] Translation: X:88.18, Y:-16.65, Z:-10.58 [[ 8.89042840e-01 4.48818716e-01 9.03581136e-02 8.81834102e+01] [-4.46771875e-01 8.93619990e-01 -4.28742826e-02 -1.66456914e+01] [-9.99885970e-02 -2.25238986e-03 9.94986034e-01 -1.05779905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.18629675700001 meters 0.07180768955481011 Centerline is valid? [True, True] Translation: X:88.21, Y:-16.66, Z:-10.58 [[ 8.89252406e-01 4.48290578e-01 9.09159883e-02 8.82120733e+01] [-4.46212865e-01 8.93885224e-01 -4.31657830e-02 -1.66585533e+01] [-1.00619272e-01 -2.18260723e-03 9.94922609e-01 -1.05821535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.21629675700001 meters 0.07177131321283506 Centerline is valid? [True, True] Translation: X:88.24, Y:-16.67, Z:-10.59 [[ 8.89461984e-01 4.47886282e-01 9.08584478e-02 8.82418355e+01] [-4.45806358e-01 8.94088039e-01 -4.31656082e-02 -1.66708927e+01] [-1.00568735e-01 -2.11110621e-03 9.94927873e-01 -1.05869031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.24629675700001 meters 0.07160196574298079 Centerline is valid? [True, True] Translation: X:88.27, Y:-16.68, Z:-10.59 [[ 8.89689621e-01 4.47393692e-01 9.10563697e-02 8.82722734e+01] [-4.45299352e-01 8.94334803e-01 -4.32867945e-02 -1.66814869e+01] [-1.00801119e-01 -2.03553060e-03 9.94904513e-01 -1.05910968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.276296757 meters 0.07173199163628634 Centerline is valid? [True, True] Translation: X:88.30, Y:-16.69, Z:-10.59 [[ 8.89456571e-01 4.47790906e-01 9.13800478e-02 8.83018090e+01] [-4.45681005e-01 8.94135920e-01 -4.34672026e-02 -1.66949582e+01] [-1.01170401e-01 -2.06416260e-03 9.94866971e-01 -1.05944088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.306296757 meters 0.07176377774409413 Centerline is valid? [True, True] Translation: X:88.33, Y:-16.71, Z:-10.60 [[ 8.89254615e-01 4.48319745e-01 9.07504033e-02 8.83306309e+01] [-4.46238448e-01 8.93870838e-01 -4.31992244e-02 -1.67066709e+01] [-1.00486204e-01 -2.08120948e-03 9.94936275e-01 -1.05984884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.336296757 meters 0.07185778511991014 Centerline is valid? [True, True] Translation: X:88.36, Y:-16.72, Z:-10.60 [[ 8.89031390e-01 4.48745995e-01 9.08307207e-02 8.83613645e+01] [-4.46660778e-01 8.93656859e-01 -4.32616207e-02 -1.67188389e+01] [-1.00584976e-01 -2.10958156e-03 9.94926235e-01 -1.06027391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.366296757 meters 0.07247272408636563 Centerline is valid? [True, True] Translation: X:88.39, Y:-16.73, Z:-10.61 [[ 8.87794490e-01 4.51168855e-01 9.09263839e-02 8.83926841e+01] [-4.49088743e-01 8.92435489e-01 -4.33382048e-02 -1.67251054e+01] [-1.00698780e-01 -2.35859599e-03 9.94914163e-01 -1.06072079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.396296757 meters 0.07243154540524081 Centerline is valid? [True, True] Translation: X:88.42, Y:-16.74, Z:-10.61 [[ 8.87320657e-01 4.52377511e-01 8.95356910e-02 8.84217539e+01] [-4.50364530e-01 8.91823217e-01 -4.26982445e-02 -1.67375774e+01] [-9.91657336e-02 -2.43666506e-03 9.95067947e-01 -1.06111601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.426296757 meters 0.07294422687726249 Centerline is valid? [True, True] Translation: X:88.45, Y:-16.75, Z:-10.62 [[ 8.86831022e-01 4.53613224e-01 8.81236778e-02 8.84512251e+01] [-4.51666865e-01 8.91195120e-01 -4.20511695e-02 -1.67471526e+01] [-9.76103581e-02 -2.51026371e-03 9.95221541e-01 -1.06170756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.456296757 meters 0.07319927941725222 Centerline is valid? [True, True] Translation: X:88.48, Y:-16.76, Z:-10.62 [[ 8.86286795e-01 4.55136417e-01 8.57120745e-02 8.84806852e+01] [-4.53300285e-01 8.90417973e-01 -4.09229271e-02 -1.67589260e+01] [-9.49450860e-02 -2.58385786e-03 9.95479158e-01 -1.06212193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.486296757 meters 0.07342655498589021 Centerline is valid? [True, True] Translation: X:88.51, Y:-16.77, Z:-10.62 [[ 8.85591562e-01 4.56640922e-01 8.48920159e-02 8.85100063e+01] [-4.54844339e-01 8.89647008e-01 -4.05564806e-02 -1.67712416e+01] [-9.40436766e-02 -2.69617586e-03 9.95564422e-01 -1.06249175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.516296757 meters 0.0734528617185863 Centerline is valid? [True, True] Translation: X:88.54, Y:-16.78, Z:-10.63 [[ 8.84418686e-01 4.58746147e-01 8.57645632e-02 8.85397199e+01] [-4.56919726e-01 8.88562550e-01 -4.09994897e-02 -1.67826854e+01] [-9.50155370e-02 -2.92680590e-03 9.95471487e-01 -1.06264987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.54629675700001 meters 0.07365337905818774 Centerline is valid? [True, True] Translation: X:88.57, Y:-16.79, Z:-10.63 [[ 8.83821691e-01 4.59561759e-01 8.75340336e-02 8.85702360e+01] [-4.57660036e-01 8.88140579e-01 -4.18760547e-02 -1.67943057e+01] [-9.69871606e-02 -3.04986342e-03 9.95280960e-01 -1.06291511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.57629675700001 meters 0.07387686006008454 Centerline is valid? [True, True] Translation: X:88.60, Y:-16.81, Z:-10.63 [[ 8.82999364e-01 4.61247122e-01 8.69667533e-02 8.85999696e+01] [-4.59377580e-01 8.87265912e-01 -4.16105824e-02 -1.68055349e+01] [-9.63553970e-02 -3.20845890e-03 9.95341822e-01 -1.06316189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.60629675700001 meters 0.07447666463377126 Centerline is valid? [True, True] Translation: X:88.63, Y:-16.82, Z:-10.64 [[ 8.82146046e-01 4.63155264e-01 8.54725399e-02 8.86287158e+01] [-4.61356002e-01 8.86270885e-01 -4.09213621e-02 -1.68169093e+01] [-9.47047678e-02 -3.33465153e-03 9.95499818e-01 -1.06366848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.63629675700001 meters 0.07473327922625224 Centerline is valid? [True, True] Translation: X:88.66, Y:-16.83, Z:-10.64 [[ 8.81768772e-01 4.64095009e-01 8.42594515e-02 8.86576193e+01] [-4.62348705e-01 8.85779030e-01 -4.03631529e-02 -1.68293259e+01] [-9.33675930e-02 -3.36628059e-03 9.95626014e-01 -1.06411945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.666296757 meters 0.07558500553179019 Centerline is valid? [True, True] Translation: X:88.69, Y:-16.84, Z:-10.65 [[ 8.80865879e-01 4.66226383e-01 8.19039863e-02 8.86866831e+01] [-4.64583496e-01 8.84658647e-01 -3.92587920e-02 -1.68404639e+01] [-9.07605543e-02 -3.46951004e-03 9.95866700e-01 -1.06472187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.696296757 meters 0.07535335689891363 Centerline is valid? [True, True] Translation: X:88.71, Y:-16.86, Z:-10.65 [[ 8.81024598e-01 4.65886099e-01 8.21328149e-02 8.87147431e+01] [-4.64230546e-01 8.84838072e-01 -3.93901925e-02 -1.68560611e+01] [-9.10255847e-02 -3.42483297e-03 9.95842665e-01 -1.06514780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.726296757 meters 0.07571411013835753 Centerline is valid? [True, True] Translation: X:88.74, Y:-16.87, Z:-10.66 [[ 8.81867959e-01 4.64432482e-01 8.13103480e-02 8.87431425e+01] [-4.62801347e-01 8.85602686e-01 -3.90230017e-02 -1.68675666e+01] [-9.01322122e-02 -3.21740372e-03 9.95924612e-01 -1.06566771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.756296757 meters 0.07519839634424848 Centerline is valid? [True, True] Translation: X:88.77, Y:-16.88, Z:-10.66 [[ 8.82449193e-01 4.62983022e-01 8.32474808e-02 8.87710586e+01] [-4.61265134e-01 8.86361628e-01 -3.99692506e-02 -1.68830306e+01] [-9.22924570e-02 -3.12832750e-03 9.95727029e-01 -1.06599762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.786296757 meters 0.07426536682895321 Centerline is valid? [True, True] Translation: X:88.80, Y:-16.90, Z:-10.66 [[ 8.84411024e-01 4.59182704e-01 8.34768474e-02 8.87977598e+01] [-4.57438089e-01 8.88337638e-01 -4.00828508e-02 -1.69002582e+01] [-9.25609773e-02 -2.73577444e-03 9.95703260e-01 -1.06620378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.816296757 meters 0.07388015450000576 Centerline is valid? [True, True] Translation: X:88.83, Y:-16.92, Z:-10.66 [[ 8.86299607e-01 4.55392551e-01 8.42058872e-02 8.88251171e+01] [-4.53597657e-01 8.90287688e-01 -4.04598309e-02 -1.69172613e+01] [-9.33925703e-02 -2.33606095e-03 9.95626622e-01 -1.06642607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.846296757 meters 0.07360655404713376 Centerline is valid? [True, True] Translation: X:88.85, Y:-16.93, Z:-10.67 [[ 8.87122225e-01 4.53665269e-01 8.48644900e-02 8.88528245e+01] [-4.51833790e-01 8.91169528e-01 -4.07810920e-02 -1.69322305e+01] [-9.41296126e-02 -2.16683109e-03 9.95557593e-01 -1.06671030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.876296757 meters 0.07324631574406953 Centerline is valid? [True, True] Translation: X:88.88, Y:-16.95, Z:-10.67 [[ 8.87728175e-01 4.52301940e-01 8.58000202e-02 8.88808511e+01] [-4.50420904e-01 8.91862585e-01 -4.12569853e-02 -1.69467595e+01] [-9.51824423e-02 -2.02113444e-03 9.95457793e-01 -1.06704844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.906296757 meters 0.07292121395232239 Centerline is valid? [True, True] Translation: X:88.91, Y:-16.96, Z:-10.67 [[ 8.88790823e-01 4.50094993e-01 8.64023709e-02 8.89087734e+01] [-4.48174281e-01 8.92978923e-01 -4.15747196e-02 -1.69601825e+01] [-9.58680692e-02 -1.77209122e-03 9.95392472e-01 -1.06741088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.93629675700001 meters 0.07263851806080296 Centerline is valid? [True, True] Translation: X:88.94, Y:-16.98, Z:-10.68 [[ 8.89185259e-01 4.49406616e-01 8.59259515e-02 8.89368969e+01] [-4.47502792e-01 8.93325739e-01 -4.13566771e-02 -1.69766481e+01] [-9.53458285e-02 -1.67835558e-03 9.95442794e-01 -1.06765812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.96629675700001 meters 0.07222562240143067 Centerline is valid? [True, True] Translation: X:88.96, Y:-16.99, Z:-10.68 [[ 8.89862764e-01 4.48051804e-01 8.59874517e-02 8.89648095e+01] [-4.46136032e-01 8.94006325e-01 -4.14165637e-02 -1.69925730e+01] [-9.54300918e-02 -1.50704259e-03 9.95434994e-01 -1.06789449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.99629675700001 meters 0.07209317003341267 Centerline is valid? [True, True] Translation: X:88.99, Y:-17.01, Z:-10.68 [[ 8.90113521e-01 4.47543187e-01 8.60407737e-02 8.89929402e+01] [-4.45620198e-01 8.94261175e-01 -4.14679320e-02 -1.70066843e+01] [-9.55016139e-02 -1.43033968e-03 9.95428247e-01 -1.06820890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.026296757 meters 0.07225918312717863 Centerline is valid? [True, True] Translation: X:89.02, Y:-17.02, Z:-10.69 [[ 8.90323796e-01 4.47294475e-01 8.51539267e-02 8.90219051e+01] [-4.45407237e-01 8.94385706e-01 -4.10682589e-02 -1.70177961e+01] [-9.45300602e-02 -1.36412702e-03 9.95521073e-01 -1.06891988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.056296757 meters 0.07210583198191377 Centerline is valid? [True, True] Translation: X:89.05, Y:-17.03, Z:-10.69 [[ 8.90211297e-01 4.47795345e-01 8.36849760e-02 8.90509023e+01] [-4.45974001e-01 8.94135010e-01 -4.03704655e-02 -1.70304824e+01] [-9.29033733e-02 -1.38307910e-03 9.95674169e-01 -1.06932176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.086296757 meters 0.07234143379959186 Centerline is valid? [True, True] Translation: X:89.08, Y:-17.04, Z:-10.70 [[ 8.90117098e-01 4.48209971e-01 8.24583147e-02 8.90794532e+01] [-4.46441057e-01 8.93927242e-01 -3.98053859e-02 -1.70419221e+01] [-9.15529047e-02 -1.38132254e-03 9.95799256e-01 -1.07001676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.116296757 meters 0.07205854417898892 Centerline is valid? [True, True] Translation: X:89.11, Y:-17.06, Z:-10.70 [[ 8.89663374e-01 4.49345851e-01 8.11627235e-02 8.91073018e+01] [-4.47636066e-01 8.93356680e-01 -3.91892263e-02 -1.70578388e+01] [-9.01167774e-02 -1.46614294e-03 9.95930126e-01 -1.07010370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.146296757 meters 0.07208073323870523 Centerline is valid? [True, True] Translation: X:89.14, Y:-17.07, Z:-10.70 [[ 8.89551937e-01 4.49587318e-01 8.10468674e-02 8.91368738e+01] [-4.47881381e-01 8.93235181e-01 -3.91558474e-02 -1.70728397e+01] [-8.99978856e-02 -1.46822304e-03 9.95940874e-01 -1.07043007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.176296757 meters 0.0719673479919663 Centerline is valid? [True, True] Translation: X:89.17, Y:-17.09, Z:-10.71 [[ 8.88771543e-01 4.51149373e-01 8.09282819e-02 8.91661854e+01] [-4.49452126e-01 8.92447026e-01 -3.91291763e-02 -1.70850333e+01] [-8.98773079e-02 -1.59648986e-03 9.95951565e-01 -1.07059118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.206296757 meters 0.07210147561872704 Centerline is valid? [True, True] Translation: X:89.20, Y:-17.10, Z:-10.71 [[ 8.87906598e-01 4.52769999e-01 8.13707631e-02 8.91964947e+01] [-4.51059984e-01 8.91625609e-01 -3.93530774e-02 -1.70964254e+01] [-9.03701490e-02 -1.76123801e-03 9.95906690e-01 -1.07099816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.236296757 meters 0.07243218016595374 Centerline is valid? [True, True] Translation: X:89.23, Y:-17.10, Z:-10.71 [[ 8.85497663e-01 4.57177799e-01 8.29599267e-02 8.92280559e+01] [-4.55417145e-01 8.89372520e-01 -4.01465436e-02 -1.71041595e+01] [-9.21363875e-02 -2.23170239e-03 9.95743896e-01 -1.07140299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.266296757 meters 0.07259853888251955 Centerline is valid? [True, True] Translation: X:89.26, Y:-17.12, Z:-10.72 [[ 8.84614721e-01 4.58921767e-01 8.27502728e-02 8.92574715e+01] [-4.57175363e-01 8.88473479e-01 -4.00695026e-02 -1.71163061e+01] [-9.19101897e-02 -2.38531413e-03 9.95764444e-01 -1.07167844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.29629675700001 meters 0.07316159684301433 Centerline is valid? [True, True] Translation: X:89.29, Y:-17.13, Z:-10.72 [[ 8.82748387e-01 4.62688458e-01 8.16986957e-02 8.92862537e+01] [-4.61000076e-01 8.86516776e-01 -3.95845462e-02 -1.71277994e+01] [-9.07425769e-02 -2.71991069e-03 9.95870668e-01 -1.07207249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.32629675700001 meters 0.07316159684301433 Centerline is valid? [True, True] Translation: X:89.32, Y:-17.14, Z:-10.72 [[ 8.82623154e-01 4.62928746e-01 8.16905367e-02 8.93151803e+01] [-4.61239834e-01 8.86391305e-01 -3.96013756e-02 -1.71419268e+01] [-9.07423966e-02 -2.72583857e-03 9.95870668e-01 -1.07244857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.35629675700001 meters 0.07353627647474031 Centerline is valid? [True, True] Translation: X:89.34, Y:-17.15, Z:-10.73 [[ 8.81857787e-01 4.64689297e-01 7.99418531e-02 8.93439560e+01] [-4.63076782e-01 8.85469314e-01 -3.87812818e-02 -1.71542787e+01] [-8.88073044e-02 -2.81964070e-03 9.96044834e-01 -1.07290195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.38629675700001 meters 0.07429016681456246 Centerline is valid? [True, True] Translation: X:89.37, Y:-17.16, Z:-10.73 [[ 8.79783533e-01 4.69117252e-01 7.68761242e-02 8.93744363e+01] [-4.67641348e-01 8.83130372e-01 -3.73137509e-02 -1.71633386e+01] [-8.53961644e-02 -3.12243071e-03 9.96342183e-01 -1.07347914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.416296757 meters 0.07608877052919952 Centerline is valid? [True, True] Translation: X:89.40, Y:-17.17, Z:-10.74 [[ 8.78850673e-01 4.70936796e-01 7.64200825e-02 8.94043252e+01] [-4.69483319e-01 8.82160932e-01 -3.71147430e-02 -1.71698034e+01] [-8.48935093e-02 -3.25963709e-03 9.96384698e-01 -1.07431827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.446296757 meters 0.07472637858232477 Centerline is valid? [True, True] Translation: X:89.43, Y:-17.19, Z:-10.74 [[ 8.78201486e-01 4.72520981e-01 7.40680211e-02 8.94312090e+01] [-4.71159623e-01 8.81313285e-01 -3.59930955e-02 -1.71884001e+01] [-8.22846238e-02 -3.28867097e-03 9.96603444e-01 -1.07425461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.476296757 meters 0.07493433591205649 Centerline is valid? [True, True] Translation: X:89.46, Y:-17.20, Z:-10.75 [[ 8.78440898e-01 4.72381239e-01 7.20940586e-02 8.94594110e+01] [-4.71091185e-01 8.81388562e-01 -3.50328060e-02 -1.72025673e+01] [-8.00917189e-02 -3.18862592e-03 9.96782398e-01 -1.07461089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.506296757 meters 0.07530000684994421 Centerline is valid? [True, True] Translation: X:89.49, Y:-17.22, Z:-10.75 [[ 8.78701466e-01 4.71912478e-01 7.19885272e-02 8.94868279e+01] [-4.70622814e-01 8.81639876e-01 -3.50042215e-02 -1.72165246e+01] [-7.99868851e-02 -3.12118251e-03 9.96791029e-01 -1.07503683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.536296757 meters 0.07407610913848126 Centerline is valid? [True, True] Translation: X:89.51, Y:-17.24, Z:-10.75 [[ 8.80393973e-01 4.68641077e-01 7.26773275e-02 8.95122267e+01] [-4.67313767e-01 8.83384128e-01 -3.53599370e-02 -1.72368362e+01] [-8.07731166e-02 -2.83244032e-03 9.96728489e-01 -1.07491288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.566296757 meters 0.07498307701152418 Centerline is valid? [True, True] Translation: X:89.54, Y:-17.25, Z:-10.76 [[ 8.81461443e-01 4.66549767e-01 7.31917998e-02 8.95412651e+01] [-4.65194698e-01 8.84491005e-01 -3.56308107e-02 -1.72469364e+01] [-8.13610350e-02 -2.64125137e-03 9.96681196e-01 -1.07580946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.596296757 meters 0.07351853837907302 Centerline is valid? [True, True] Translation: X:89.57, Y:-17.27, Z:-10.76 [[ 8.83332496e-01 4.62854997e-01 7.40874737e-02 8.95676587e+01] [-4.61451304e-01 8.86431012e-01 -3.60937144e-02 -1.72662474e+01] [-8.23795903e-02 -2.30501050e-03 9.96598359e-01 -1.07583714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.626296757 meters 0.07305536938440209 Centerline is valid? [True, True] Translation: X:89.59, Y:-17.28, Z:-10.76 [[ 8.84015333e-01 4.61574645e-01 7.39306310e-02 8.95949725e+01] [-4.60172298e-01 8.87098696e-01 -3.60188763e-02 -1.72828692e+01] [-8.22091664e-02 -2.17958938e-03 9.96612714e-01 -1.07604883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.656296757 meters 0.07274989481987973 Centerline is valid? [True, True] Translation: X:89.62, Y:-17.30, Z:-10.76 [[ 8.85526315e-01 4.58631841e-01 7.41618440e-02 8.96211998e+01] [-4.57208486e-01 8.88624361e-01 -3.61544557e-02 -1.73019649e+01] [-8.24836059e-02 -1.89170246e-03 9.96590626e-01 -1.07627920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.68629675700001 meters 0.07272423117709755 Centerline is valid? [True, True] Translation: X:89.65, Y:-17.32, Z:-10.77 [[ 8.86077843e-01 4.57714568e-01 7.32354448e-02 8.96487393e+01] [-4.56321853e-01 8.89097439e-01 -3.57226814e-02 -1.73179442e+01] [-8.14642381e-02 -1.76585743e-03 9.96674701e-01 -1.07671484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.71629675700001 meters 0.07204499303911126 Centerline is valid? [True, True] Translation: X:89.67, Y:-17.34, Z:-10.77 [[ 8.87546404e-01 4.54825411e-01 7.34522078e-02 8.96748102e+01] [-4.53412576e-01 8.90579387e-01 -3.58523477e-02 -1.73373790e+01] [-8.17215810e-02 -1.48353241e-03 9.96654094e-01 -1.07669563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.74629675700001 meters 0.07223756348724841 Centerline is valid? [True, True] Translation: X:89.70, Y:-17.35, Z:-10.77 [[ 8.88021701e-01 4.53818645e-01 7.39330445e-02 8.97021797e+01] [-4.52381780e-01 8.91093001e-01 -3.61107906e-02 -1.73516375e+01] [-8.22689685e-02 -1.37879655e-03 9.96609209e-01 -1.07727093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.77629675700001 meters 0.07218340490908175 Centerline is valid? [True, True] Translation: X:89.73, Y:-17.37, Z:-10.78 [[ 8.88797656e-01 4.52276051e-01 7.40614671e-02 8.97296213e+01] [-4.50827138e-01 8.91877170e-01 -3.61939919e-02 -1.73666569e+01] [-8.24234074e-02 -1.21978411e-03 9.96596656e-01 -1.07768416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.806296757 meters 0.07216120054375243 Centerline is valid? [True, True] Translation: X:89.76, Y:-17.38, Z:-10.78 [[ 8.89579435e-01 4.50601125e-01 7.48802727e-02 8.97562069e+01] [-4.49111835e-01 8.92724771e-01 -3.66202513e-02 -1.73834303e+01] [-8.33486008e-02 -1.05299421e-03 9.96519895e-01 -1.07804827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.836296757 meters 0.0721300814417941 Centerline is valid? [True, True] Translation: X:89.78, Y:-17.40, Z:-10.78 [[ 8.89593709e-01 4.50136770e-01 7.74591572e-02 8.97840627e+01] [-4.48539841e-01 8.92959028e-01 -3.78970308e-02 -1.73999821e+01] [-8.62267008e-02 -1.03055783e-03 9.96275009e-01 -1.07828638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.866296757 meters 0.07202122692337244 Centerline is valid? [True, True] Translation: X:89.81, Y:-17.41, Z:-10.79 [[ 8.89015364e-01 4.51095534e-01 7.85143386e-02 8.98128074e+01] [-4.49458258e-01 8.92474945e-01 -3.84154539e-02 -1.74139428e+01] [-8.74011197e-02 -1.13698910e-03 9.96172551e-01 -1.07855877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.896296757 meters 0.0723191333261326 Centerline is valid? [True, True] Translation: X:89.84, Y:-17.43, Z:-10.79 [[ 8.87997776e-01 4.53144681e-01 7.82294569e-02 8.98411743e+01] [-4.51525126e-01 8.91436019e-01 -3.82999204e-02 -1.74261428e+01] [-8.70919608e-02 -1.31232125e-03 9.96199412e-01 -1.07906785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.926296757 meters 0.07265600123319435 Centerline is valid? [True, True] Translation: X:89.87, Y:-17.44, Z:-10.79 [[ 8.87189542e-01 4.54875683e-01 7.73487562e-02 8.98704208e+01] [-4.53297213e-01 8.90553771e-01 -3.78895358e-02 -1.74391127e+01] [-8.61182550e-02 -1.44677570e-03 9.96283872e-01 -1.07936909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.956296757 meters 0.07344316590648943 Centerline is valid? [True, True] Translation: X:89.90, Y:-17.45, Z:-10.80 [[ 8.85453093e-01 4.58673293e-01 7.47772066e-02 8.99006785e+01] [-4.57209585e-01 8.88603291e-01 -3.66549759e-02 -1.74493898e+01] [-8.32599304e-02 -1.73259383e-03 9.96526358e-01 -1.08008114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.986296757 meters 0.07361848180230929 Centerline is valid? [True, True] Translation: X:89.93, Y:-17.46, Z:-10.80 [[ 8.84278612e-01 4.61171006e-01 7.32982885e-02 8.99295607e+01] [-4.59772390e-01 8.87309202e-01 -3.59406330e-02 -1.74623206e+01] [-8.16130238e-02 -1.91899617e-03 9.96662246e-01 -1.08029956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.016296757 meters 0.07365686330877702 Centerline is valid? [True, True] Translation: X:89.96, Y:-17.48, Z:-10.80 [[ 8.83261879e-01 4.63218571e-01 7.26430155e-02 8.99580136e+01] [-4.61851436e-01 8.86241619e-01 -3.56236504e-02 -1.74770273e+01] [-8.08808001e-02 -2.08526857e-03 9.96721600e-01 -1.08041568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.04629675700001 meters 0.07434630910103363 Centerline is valid? [True, True] Translation: X:89.99, Y:-17.49, Z:-10.81 [[ 8.80863739e-01 4.67874702e-01 7.19189614e-02 8.99866666e+01] [-4.66548342e-01 8.83791365e-01 -3.52911663e-02 -1.74888665e+01] [-8.00732010e-02 -2.46696358e-03 9.96785933e-01 -1.08087294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.07629675700001 meters 0.07513485270729817 Centerline is valid? [True, True] Translation: X:90.02, Y:-17.50, Z:-10.82 [[ 8.79771741e-01 4.69957721e-01 7.17037251e-02 9.00150664e+01] [-4.68644164e-01 8.82685020e-01 -3.52108298e-02 -1.74993728e+01] [-7.98394053e-02 -2.62603933e-03 9.96804280e-01 -1.08150322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.10629675700001 meters 0.0757802427130696 Centerline is valid? [True, True] Translation: X:90.04, Y:-17.51, Z:-10.82 [[ 8.77497715e-01 4.74526377e-01 6.94440664e-02 9.00445110e+01] [-4.73308224e-01 8.80236374e-01 -3.41064823e-02 -1.75113063e+01] [-7.73116187e-02 -2.94008741e-03 9.97002643e-01 -1.08197955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.13629675700001 meters 0.0764804733026998 Centerline is valid? [True, True] Translation: X:90.07, Y:-17.52, Z:-10.82 [[ 8.76390286e-01 4.76793866e-01 6.78798607e-02 9.00730034e+01] [-4.75634940e-01 8.79009854e-01 -3.33628435e-02 -1.75225195e+01] [-7.55742656e-02 -3.04716157e-03 9.97135520e-01 -1.08240501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.166296757 meters 0.07684295219447387 Centerline is valid? [True, True] Translation: X:90.10, Y:-17.54, Z:-10.83 [[ 8.75716558e-01 4.77970991e-01 6.82952610e-02 9.01013026e+01] [-4.76800578e-01 8.78369942e-01 -3.35775952e-02 -1.75350889e+01] [-7.60376209e-02 -3.15876385e-03 9.97099946e-01 -1.08297426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.196296757 meters 0.07699507675375279 Centerline is valid? [True, True] Translation: X:90.13, Y:-17.55, Z:-10.83 [[ 8.75447046e-01 4.78680039e-01 6.67674308e-02 9.01284557e+01] [-4.77563052e-01 8.77983796e-01 -3.28326948e-02 -1.75508478e+01] [-7.43370779e-02 -3.14237231e-03 9.97228221e-01 -1.08329604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.226296757 meters 0.07700079979563705 Centerline is valid? [True, True] Translation: X:90.16, Y:-17.57, Z:-10.84 [[ 8.75903454e-01 4.77858724e-01 6.66646701e-02 9.01552690e+01] [-4.76741451e-01 8.78431401e-01 -3.28003507e-02 -1.75690735e+01] [-7.42342733e-02 -3.05187113e-03 9.97236160e-01 -1.08362749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.256296757 meters 0.0767682844316653 Centerline is valid? [True, True] Translation: X:90.18, Y:-17.58, Z:-10.84 [[ 8.76229857e-01 4.77258771e-01 6.66731075e-02 9.01825123e+01] [-4.76137969e-01 8.78757739e-01 -3.28248340e-02 -1.75845528e+01] [-7.42554491e-02 -2.98349837e-03 9.97234790e-01 -1.08398184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.286296757 meters 0.0769358167411267 Centerline is valid? [True, True] Translation: X:90.21, Y:-17.60, Z:-10.85 [[ 8.76749634e-01 4.76318257e-01 6.65657394e-02 9.02103347e+01] [-4.75196851e-01 8.79268228e-01 -3.27923152e-02 -1.75985733e+01] [-7.41487182e-02 -2.88117933e-03 9.97243033e-01 -1.08453309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.316296757 meters 0.07641593218429582 Centerline is valid? [True, True] Translation: X:90.24, Y:-17.61, Z:-10.85 [[ 8.77110336e-01 4.75200278e-01 6.97291504e-02 9.02377595e+01] [-4.73964337e-01 8.79872880e-01 -3.43732662e-02 -1.76144808e+01] [-7.76869741e-02 -2.89998349e-03 9.96973582e-01 -1.08484030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.346296757 meters 0.07584516040375676 Centerline is valid? [True, True] Translation: X:90.26, Y:-17.63, Z:-10.85 [[ 8.77257655e-01 4.74420245e-01 7.31056574e-02 9.02649370e+01] [-4.73056529e-01 8.80293567e-01 -3.60659960e-02 -1.76324625e+01] [-8.14648786e-02 -2.94393748e-03 9.96671865e-01 -1.08492973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.376296757 meters 0.07514483191481357 Centerline is valid? [True, True] Translation: X:90.29, Y:-17.65, Z:-10.85 [[ 8.77483201e-01 4.73892799e-01 7.38163059e-02 9.02916316e+01] [-4.72500180e-01 8.80577704e-01 -3.64209756e-02 -1.76503957e+01] [-8.22606312e-02 -2.91942359e-03 9.96606575e-01 -1.08507140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.406296757 meters 0.07516410097780164 Centerline is valid? [True, True] Translation: X:90.32, Y:-17.66, Z:-10.85 [[ 8.77728438e-01 4.73271203e-01 7.48809621e-02 9.03188122e+01] [-4.71833757e-01 8.80912066e-01 -3.69707657e-02 -1.76643532e+01] [-8.34607418e-02 -2.88107329e-03 9.96506901e-01 -1.08548706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.43629675700001 meters 0.0749423280145002 Centerline is valid? [True, True] Translation: X:90.35, Y:-17.68, Z:-10.86 [[ 8.78085629e-01 4.72368758e-01 7.63766041e-02 9.03470576e+01] [-4.70867575e-01 8.81396482e-01 -3.77355101e-02 -1.76791526e+01] [-8.51431462e-02 -2.82825728e-03 9.96364715e-01 -1.08597464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.46629675700001 meters 0.07485219793987381 Centerline is valid? [True, True] Translation: X:90.38, Y:-17.69, Z:-10.86 [[ 8.78257600e-01 4.72101879e-01 7.60486947e-02 9.03765453e+01] [-4.70612136e-01 8.81539594e-01 -3.75787390e-02 -1.76938947e+01] [-8.47809287e-02 -2.78562555e-03 9.96395722e-01 -1.08643051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.49629675700001 meters 0.07490737019329433 Centerline is valid? [True, True] Translation: X:90.41, Y:-17.71, Z:-10.87 [[ 8.78226795e-01 4.72197202e-01 7.58122597e-02 9.04056869e+01] [-4.70714881e-01 8.81488609e-01 -3.74877731e-02 -1.77082224e+01] [-8.45292649e-02 -2.76319192e-03 9.96417166e-01 -1.08702290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.52629675700001 meters 0.07441892004529073 Centerline is valid? [True, True] Translation: X:90.43, Y:-17.72, Z:-10.87 [[ 8.77843411e-01 4.72676731e-01 7.72505893e-02 9.04341516e+01] [-4.71136523e-01 8.81231342e-01 -3.82321597e-02 -1.77242143e+01] [-8.61470928e-02 -2.83372458e-03 9.96278399e-01 -1.08725605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.556296757 meters 0.07439553292914472 Centerline is valid? [True, True] Translation: X:90.46, Y:-17.74, Z:-10.88 [[ 8.77717565e-01 4.72587886e-01 7.91995317e-02 9.04630804e+01] [-4.70968116e-01 8.81278798e-01 -3.92009398e-02 -1.77377685e+01] [-8.83227574e-02 -2.89310085e-03 9.96087707e-01 -1.08762872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.586296757 meters 0.07444919882098258 Centerline is valid? [True, True] Translation: X:90.49, Y:-17.75, Z:-10.88 [[ 8.77227087e-01 4.73391751e-01 7.98303725e-02 9.04932658e+01] [-4.71747253e-01 8.80846971e-01 -3.95365952e-02 -1.77514864e+01] [-8.90346398e-02 -2.97718671e-03 9.96024081e-01 -1.08801087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.616296757 meters 0.07484721463976204 Centerline is valid? [True, True] Translation: X:90.52, Y:-17.76, Z:-10.89 [[ 8.76515900e-01 4.74849850e-01 7.89778276e-02 9.05222603e+01] [-4.73243710e-01 8.80061485e-01 -3.91429886e-02 -1.77625516e+01] [-8.80923865e-02 -3.06630822e-03 9.96107589e-01 -1.08851951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.646296757 meters 0.07509006847154051 Centerline is valid? [True, True] Translation: X:90.55, Y:-17.78, Z:-10.89 [[ 8.75874482e-01 4.76157678e-01 7.82160946e-02 9.05509116e+01] [-4.74585766e-01 8.79354283e-01 -3.87865456e-02 -1.77760171e+01] [-8.72481692e-02 -3.14809961e-03 9.96181633e-01 -1.08894480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.676296757 meters 0.07637020424773518 Centerline is valid? [True, True] Translation: X:90.58, Y:-17.79, Z:-10.90 [[ 8.74633208e-01 4.78985586e-01 7.47633570e-02 9.05799314e+01] [-4.77557756e-01 8.77816730e-01 -3.70995738e-02 -1.77857673e+01] [-8.33986866e-02 -3.25530171e-03 9.96510944e-01 -1.08956213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.706296757 meters 0.07695094814574006 Centerline is valid? [True, True] Translation: X:90.61, Y:-17.80, Z:-10.90 [[ 8.73772191e-01 4.80591119e-01 7.45274152e-02 9.06093246e+01] [-4.79177433e-01 8.76938243e-01 -3.69906295e-02 -1.77976984e+01] [-8.31333085e-02 -3.39047216e-03 9.96532668e-01 -1.09023398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.736296757 meters 0.07768393436712294 Centerline is valid? [True, True] Translation: X:90.64, Y:-17.81, Z:-10.91 [[ 8.72441992e-01 4.83276548e-01 7.27237925e-02 9.06380640e+01] [-4.81938182e-01 8.75460593e-01 -3.61156324e-02 -1.78105903e+01] [-8.11206527e-02 -3.53957805e-03 9.96698004e-01 -1.09065792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.766296757 meters 0.07820741608240186 Centerline is valid? [True, True] Translation: X:90.67, Y:-17.82, Z:-10.91 [[ 8.71813643e-01 4.84483009e-01 7.22300859e-02 9.06664409e+01] [-4.83165300e-01 8.74793225e-01 -3.58902129e-02 -1.78237623e+01] [-8.05745881e-02 -3.60949381e-03 9.96742047e-01 -1.09107962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.79629675700001 meters 0.07913957766333841 Centerline is valid? [True, True] Translation: X:90.69, Y:-17.84, Z:-10.91 [[ 8.71095723e-01 4.85748260e-01 7.23938455e-02 9.06939667e+01] [-4.84427118e-01 8.74090855e-01 -3.59936737e-02 -1.78365498e+01] [-8.07626626e-02 -3.71560675e-03 9.96726435e-01 -1.09149061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.82629675700001 meters 0.07944878764909548 Centerline is valid? [True, True] Translation: X:90.72, Y:-17.85, Z:-10.92 [[ 8.70746599e-01 4.86336646e-01 7.26431451e-02 9.07223197e+01] [-4.85007434e-01 8.73763374e-01 -3.61297029e-02 -1.78505547e+01] [-8.10441181e-02 -3.77264948e-03 9.96703375e-01 -1.09182193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.85629675700001 meters 0.07899453341856988 Centerline is valid? [True, True] Translation: X:90.75, Y:-17.87, Z:-10.92 [[ 8.70119891e-01 4.87253575e-01 7.39954611e-02 9.07497797e+01] [-4.85875621e-01 8.73251781e-01 -3.68267212e-02 -1.78669255e+01] [-8.25606198e-02 -3.90892800e-03 9.96578378e-01 -1.09192946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.88629675700001 meters 0.07979664544237135 Centerline is valid? [True, True] Translation: X:90.78, Y:-17.88, Z:-10.92 [[ 8.69957024e-01 4.87302983e-01 7.55683796e-02 9.07784569e+01] [-4.85863906e-01 8.73223906e-01 -3.76334277e-02 -1.78778152e+01] [-8.43269972e-02 -3.97648335e-03 9.96430201e-01 -1.09248946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.916296757 meters 0.07790065199774661 Centerline is valid? [True, True] Translation: X:90.81, Y:-17.90, Z:-10.93 [[ 8.69877037e-01 4.87469427e-01 7.54155087e-02 9.08051042e+01] [-4.86035248e-01 8.73131038e-01 -3.75756273e-02 -1.78990554e+01] [-8.41645909e-02 -3.96842015e-03 9.96443964e-01 -1.09253294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.946296757 meters 0.07888224781165189 Centerline is valid? [True, True] Translation: X:90.83, Y:-17.91, Z:-10.93 [[ 8.70305290e-01 4.86882030e-01 7.42602905e-02 9.08340403e+01] [-4.85487151e-01 8.73459350e-01 -3.70268712e-02 -1.79113356e+01] [-8.28910633e-02 -3.82773496e-03 9.96551263e-01 -1.09316124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.976296757 meters 0.07854499056547602 Centerline is valid? [True, True] Translation: X:90.86, Y:-17.93, Z:-10.93 [[ 8.70570670e-01 4.86075629e-01 7.64015181e-02 9.08610884e+01] [-4.84593530e-01 8.73908333e-01 -3.81226508e-02 -1.79277267e+01] [-8.52984148e-02 -3.83521979e-03 9.96348067e-01 -1.09346318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.006296757 meters 0.07712910684235999 Centerline is valid? [True, True] Translation: X:90.89, Y:-17.95, Z:-10.93 [[ 8.72035682e-01 4.83029760e-01 7.89684795e-02 9.08873437e+01] [-4.81431451e-01 8.75596395e-01 -3.94298231e-02 -1.79483657e+01] [-8.81902940e-02 -3.63369696e-03 9.96097018e-01 -1.09343024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.036296757 meters 0.07646229291153055 Centerline is valid? [True, True] Translation: X:90.92, Y:-17.96, Z:-10.94 [[ 8.73257075e-01 4.80348552e-01 8.17762138e-02 9.09150561e+01] [-4.78621790e-01 8.77070802e-01 -4.08410331e-02 -1.79631686e+01] [-9.13414605e-02 -3.47515674e-03 9.95813567e-01 -1.09361569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.066296757 meters 0.0761247282591094 Centerline is valid? [True, True] Translation: X:90.94, Y:-17.98, Z:-10.94 [[ 8.73589435e-01 4.79402783e-01 8.37524383e-02 9.09431275e+01] [-4.77584432e-01 8.77588275e-01 -4.18560586e-02 -1.79788759e+01] [-9.35660688e-02 -3.43385009e-03 9.95607151e-01 -1.09390494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.096296757 meters 0.07601024615468836 Centerline is valid? [True, True] Translation: X:90.97, Y:-17.99, Z:-10.94 [[ 8.73816503e-01 4.78647421e-01 8.56817687e-02 9.09705962e+01] [-4.76740015e-01 8.78000517e-01 -4.28258082e-02 -1.79929559e+01] [-9.57270999e-02 -3.42602967e-03 9.95401720e-01 -1.09419452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.126296757 meters 0.07529072029211005 Centerline is valid? [True, True] Translation: X:91.00, Y:-18.01, Z:-10.94 [[ 8.74340172e-01 4.77460629e-01 8.69517787e-02 9.09974673e+01] [-4.75487868e-01 8.78646859e-01 -4.34854583e-02 -1.80108932e+01] [-9.71625015e-02 -3.32343281e-03 9.95262982e-01 -1.09433238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.156296757 meters 0.07520346788941551 Centerline is valid? [True, True] Translation: X:91.03, Y:-18.03, Z:-10.95 [[ 8.74524846e-01 4.77256337e-01 8.62130106e-02 9.10262481e+01] [-4.75313560e-01 8.78758117e-01 -4.31415394e-02 -1.80252447e+01] [-9.63499558e-02 -3.24986485e-03 9.95342215e-01 -1.09473757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.18629675700001 meters 0.07589434080779806 Centerline is valid? [True, True] Translation: X:91.05, Y:-18.04, Z:-10.96 [[ 8.74776763e-01 4.77227201e-01 8.37843208e-02 9.10545831e+01] [-4.75389611e-01 8.78774381e-01 -4.19559810e-02 -1.80355303e+01] [-9.36500501e-02 -3.12807838e-03 9.95600263e-01 -1.09558902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.21629675700001 meters 0.07589434080779806 Centerline is valid? [True, True] Translation: X:91.08, Y:-18.05, Z:-10.96 [[ 8.74643040e-01 4.77473826e-01 8.37752888e-02 9.10833071e+01] [-4.75635638e-01 8.78640383e-01 -4.19740070e-02 -1.80500390e+01] [-9.36498415e-02 -3.13423986e-03 9.95600263e-01 -1.09596509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24629675700001 meters 0.07617080982279448 Centerline is valid? [True, True] Translation: X:91.11, Y:-18.06, Z:-10.96 [[ 8.74443756e-01 4.78265896e-01 8.13009894e-02 9.11122252e+01] [-4.76535682e-01 8.78209619e-01 -4.07628330e-02 -1.80634480e+01] [-9.08947838e-02 -3.09801766e-03 9.95855683e-01 -1.09649719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.27629675700001 meters 0.0767693041446977 Centerline is valid? [True, True] Translation: X:91.14, Y:-18.08, Z:-10.97 [[ 8.74095285e-01 4.79139080e-01 7.98947732e-02 9.11404735e+01] [-4.77469722e-01 8.77733479e-01 -4.00824683e-02 -1.80758144e+01] [-8.93313942e-02 -3.11143857e-03 9.95997099e-01 -1.09712998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.306296757 meters 0.07672608540273208 Centerline is valid? [True, True] Translation: X:91.17, Y:-18.09, Z:-10.97 [[ 8.73954936e-01 4.79438299e-01 7.96347136e-02 9.11693139e+01] [-4.77779188e-01 8.77570068e-01 -3.99727843e-02 -1.80913253e+01] [-8.90495248e-02 -3.11339669e-03 9.96022334e-01 -1.09740710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.336296757 meters 0.07666254054657765 Centerline is valid? [True, True] Translation: X:91.20, Y:-18.10, Z:-10.98 [[ 8.73951881e-01 4.79417359e-01 7.97941505e-02 9.11967564e+01] [-4.77748845e-01 8.77581585e-01 -4.00824381e-02 -1.81046597e+01] [-8.92420937e-02 -3.09144109e-03 9.96005167e-01 -1.09772552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.366296757 meters 0.0764145365880948 Centerline is valid? [True, True] Translation: X:91.23, Y:-18.12, Z:-10.98 [[ 8.73330919e-01 4.80286275e-01 8.13523157e-02 9.12252854e+01] [-4.78553495e-01 8.77105871e-01 -4.08881753e-02 -1.81193679e+01] [-9.09926232e-02 -3.22252728e-03 9.95846353e-01 -1.09798278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.396296757 meters 0.07684770875584283 Centerline is valid? [True, True] Translation: X:91.26, Y:-18.13, Z:-10.98 [[ 8.72121883e-01 4.82450643e-01 8.15156278e-02 9.12551323e+01] [-4.80717921e-01 8.75916432e-01 -4.09961507e-02 -1.81296628e+01] [-9.11794971e-02 -3.43238299e-03 9.95828559e-01 -1.09833681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.426296757 meters 0.07747555540986763 Centerline is valid? [True, True] Translation: X:91.28, Y:-18.14, Z:-10.99 [[ 8.71061152e-01 4.84505937e-01 8.06626752e-02 9.12838423e+01] [-4.82816003e-01 8.74780613e-01 -4.05904762e-02 -1.81403283e+01] [-9.02284712e-02 -3.58844347e-03 9.95914628e-01 -1.09879118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.456296757 meters 0.07807443408670775 Centerline is valid? [True, True] Translation: X:91.31, Y:-18.15, Z:-10.99 [[ 8.69121066e-01 4.87836337e-01 8.15124538e-02 9.13131652e+01] [-4.86123193e-01 8.72926141e-01 -4.10389253e-02 -1.81529614e+01] [-9.11746307e-02 -3.95729980e-03 9.95827057e-01 -1.09907116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.486296757 meters 0.07814775989178893 Centerline is valid? [True, True] Translation: X:91.34, Y:-18.17, Z:-10.99 [[ 8.68321831e-01 4.89084583e-01 8.25437362e-02 9.13418317e+01] [-4.87331065e-01 8.72226636e-01 -4.15827815e-02 -1.81664313e+01] [-9.23343428e-02 -4.11888992e-03 9.95719541e-01 -1.09935434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.516296757 meters 0.07861091161862085 Centerline is valid? [True, True] Translation: X:91.37, Y:-18.18, Z:-11.00 [[ 8.66715547e-01 4.91907466e-01 8.26511116e-02 9.13716065e+01] [-4.90159715e-01 8.70636355e-01 -4.16628158e-02 -1.81764562e+01] [-9.24533127e-02 -4.40243513e-03 9.95707288e-01 -1.09982339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.54629675700001 meters 0.07963088434482081 Centerline is valid? [True, True] Translation: X:91.40, Y:-18.19, Z:-11.00 [[ 8.65705464e-01 4.93866077e-01 8.15496628e-02 9.14001124e+01] [-4.92171103e-01 8.69526188e-01 -4.11316707e-02 -1.81865702e+01] [-9.12231042e-02 -4.52847539e-03 9.95820184e-01 -1.10031115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.57629675700001 meters 0.07970362827321702 Centerline is valid? [True, True] Translation: X:91.43, Y:-18.20, Z:-11.01 [[ 8.64552960e-01 4.96126222e-01 8.00434394e-02 9.14286882e+01] [-4.94501273e-01 8.68237896e-01 -4.03911662e-02 -1.82005541e+01] [-8.95358641e-02 -4.66128043e-03 9.95972691e-01 -1.10069326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.60629675700001 meters 0.08018622340500357 Centerline is valid? [True, True] Translation: X:91.46, Y:-18.21, Z:-11.01 [[ 8.63851199e-01 4.97353447e-01 8.00040949e-02 9.14571310e+01] [-4.95733965e-01 8.67534880e-01 -4.03864737e-02 -1.82131238e+01] [-8.94926948e-02 -4.77284349e-03 9.95976043e-01 -1.10098300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.63629675700001 meters 0.08058640994156564 Centerline is valid? [True, True] Translation: X:91.49, Y:-18.23, Z:-11.01 [[ 8.63646696e-01 4.97545124e-01 8.10137893e-02 9.14857997e+01] [-4.95883085e-01 8.67424634e-01 -4.09202981e-02 -1.82252808e+01] [-9.06330513e-02 -4.83268749e-03 9.95872630e-01 -1.10134980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.666296757 meters 0.07987371102863881 Centerline is valid? [True, True] Translation: X:91.51, Y:-18.24, Z:-11.02 [[ 8.64169062e-01 4.96673301e-01 8.07927231e-02 9.15142263e+01] [-4.95014486e-01 8.67924802e-01 -4.08313099e-02 -1.82397659e+01] [-9.04018297e-02 -4.70841351e-03 9.95894241e-01 -1.10161316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.696296757 meters 0.079913941060348 Centerline is valid? [True, True] Translation: X:91.54, Y:-18.25, Z:-11.02 [[ 8.64418307e-01 4.96243673e-01 8.07663782e-02 9.15432168e+01] [-4.94581810e-01 8.68170885e-01 -4.08429623e-02 -1.82528362e+01] [-9.03870797e-02 -4.64017715e-03 9.95895900e-01 -1.10208948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.726296757 meters 0.0786572461697318 Centerline is valid? [True, True] Translation: X:91.57, Y:-18.27, Z:-11.02 [[ 8.64805023e-01 4.95514324e-01 8.11038069e-02 9.15704558e+01] [-4.93833090e-01 8.68587788e-01 -4.10381966e-02 -1.82698619e+01] [-9.07807905e-02 -4.56170508e-03 9.95860452e-01 -1.10216566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.756296757 meters 0.0788559594970593 Centerline is valid? [True, True] Translation: X:91.60, Y:-18.28, Z:-11.03 [[ 8.64825965e-01 4.95478756e-01 8.10977950e-02 9.15989995e+01] [-4.93795243e-01 8.68608219e-01 -4.10611853e-02 -1.82824297e+01] [-9.07871562e-02 -4.53492618e-03 9.95859994e-01 -1.10254306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.786296757 meters 0.07744159909017341 Centerline is valid? [True, True] Translation: X:91.63, Y:-18.30, Z:-11.03 [[ 8.65674346e-01 4.93492032e-01 8.41043486e-02 9.16277751e+01] [-4.91669461e-01 8.69738848e-01 -4.26084192e-02 -1.82961609e+01] [-9.41757347e-02 -4.46652430e-03 9.95545570e-01 -1.10264370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.816296757 meters 0.0773835595710436 Centerline is valid? [True, True] Translation: X:91.66, Y:-18.31, Z:-11.03 [[ 8.65651600e-01 4.93421323e-01 8.47508416e-02 9.16566262e+01] [-4.91567470e-01 8.69778957e-01 -4.29649640e-02 -1.83078529e+01] [-9.49143281e-02 -4.46806692e-03 9.95475417e-01 -1.10302205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.846296757 meters 0.07715595457984224 Centerline is valid? [True, True] Translation: X:91.69, Y:-18.32, Z:-11.03 [[ 8.66019041e-01 4.92722873e-01 8.50599267e-02 9.16856161e+01] [-4.90850814e-01 8.70175181e-01 -4.31350496e-02 -1.83199272e+01] [-9.52706627e-02 -4.39596001e-03 9.95441699e-01 -1.10330857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.876296757 meters 0.07713712954465127 Centerline is valid? [True, True] Translation: X:91.71, Y:-18.33, Z:-11.04 [[ 8.65905166e-01 4.92862603e-01 8.54090047e-02 9.17139008e+01] [-4.90973457e-01 8.70095984e-01 -4.33364054e-02 -1.83337635e+01] [-9.56729255e-02 -4.40833694e-03 9.95403063e-01 -1.10355210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.906296757 meters 0.0767640845622232 Centerline is valid? [True, True] Translation: X:91.74, Y:-18.35, Z:-11.04 [[ 8.66151959e-01 4.92552708e-01 8.46912890e-02 9.17422011e+01] [-4.90691328e-01 8.70271919e-01 -4.29977590e-02 -1.83484303e+01] [-9.48831133e-02 -4.31468796e-03 9.95479070e-01 -1.10373624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.93629675700001 meters 0.07726324988591536 Centerline is valid? [True, True] Translation: X:91.77, Y:-18.36, Z:-11.04 [[ 8.65955165e-01 4.93236227e-01 8.27023316e-02 9.17719592e+01] [-4.91462194e-01 8.69884960e-01 -4.20127249e-02 -1.83573089e+01] [-9.26637123e-02 -4.26393323e-03 9.95688332e-01 -1.10419636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.96629675700001 meters 0.07769182735461655 Centerline is valid? [True, True] Translation: X:91.80, Y:-18.37, Z:-11.05 [[ 8.65649968e-01 4.93873962e-01 8.20892373e-02 9.18021788e+01] [-4.92126966e-01 8.69522966e-01 -4.17236235e-02 -1.83681461e+01] [-9.19846884e-02 -4.28027395e-03 9.95751222e-01 -1.10473022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.99629675700001 meters 0.07710104436268048 Centerline is valid? [True, True] Translation: X:91.83, Y:-18.38, Z:-11.05 [[ 8.64939315e-01 4.95405711e-01 8.03315790e-02 9.18314991e+01] [-4.93737085e-01 8.68650953e-01 -4.08559997e-02 -1.83806404e+01] [-9.00203983e-02 -4.32471926e-03 9.95930532e-01 -1.10515156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.02629675700001 meters 0.07732863194164975 Centerline is valid? [True, True] Translation: X:91.86, Y:-18.39, Z:-11.06 [[ 8.64074974e-01 4.97276835e-01 7.80396639e-02 9.18603641e+01] [-4.95708415e-01 8.67580890e-01 -3.97060085e-02 -1.83946034e+01] [-8.74505993e-02 -4.37594986e-03 9.96159246e-01 -1.10556071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.056296757 meters 0.07724969905906379 Centerline is valid? [True, True] Translation: X:91.89, Y:-18.41, Z:-11.06 [[ 8.63594777e-01 4.98187787e-01 7.75434665e-02 9.18883299e+01] [-4.96642836e-01 8.67057799e-01 -3.94546078e-02 -1.84096307e+01] [-8.68904711e-02 -4.43861390e-03 9.96207983e-01 -1.10580320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.086296757 meters 0.07847087534058529 Centerline is valid? [True, True] Translation: X:91.92, Y:-18.42, Z:-11.07 [[ 8.62965884e-01 4.99321143e-01 7.72546403e-02 9.19184622e+01] [-4.97790070e-01 8.66405228e-01 -3.93322715e-02 -1.84179285e+01] [-8.65732590e-02 -4.51418439e-03 9.96235260e-01 -1.10655733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.116296757 meters 0.07886969139339367 Centerline is valid? [True, True] Translation: X:91.95, Y:-18.43, Z:-11.07 [[ 8.62281792e-01 5.00529059e-01 7.70764033e-02 9.19478960e+01] [-4.99007966e-01 8.65707484e-01 -3.92632324e-02 -1.84299089e+01] [-8.63780080e-02 -4.60576884e-03 9.96251789e-01 -1.10702629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.146296757 meters 0.07916812078293825 Centerline is valid? [True, True] Translation: X:91.98, Y:-18.44, Z:-11.07 [[ 8.61606823e-01 5.01756196e-01 7.66446567e-02 9.19770911e+01] [-5.00254897e-01 8.64996419e-01 -3.90670452e-02 -1.84419919e+01] [-8.58994855e-02 -4.68143214e-03 9.96292810e-01 -1.10739067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.176296757 meters 0.07910847192424673 Centerline is valid? [True, True] Translation: X:92.01, Y:-18.46, Z:-11.08 [[ 8.61040159e-01 5.02742846e-01 7.65472140e-02 9.20051616e+01] [-5.01247418e-01 8.64422939e-01 -3.90385459e-02 -1.84576001e+01] [-8.57955173e-02 -4.75533762e-03 9.96301418e-01 -1.10763923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.206296757 meters 0.0786699572072503 Centerline is valid? [True, True] Translation: X:92.03, Y:-18.47, Z:-11.08 [[ 8.60925064e-01 5.02959259e-01 7.64200125e-02 9.20329448e+01] [-5.01467746e-01 8.64297069e-01 -3.89958426e-02 -1.84743558e+01] [-8.56629130e-02 -4.74967317e-03 9.96312855e-01 -1.10796975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.236296757 meters 0.07866688864400061 Centerline is valid? [True, True] Translation: X:92.06, Y:-18.49, Z:-11.08 [[ 8.61147433e-01 5.02499218e-01 7.69391620e-02 9.20607263e+01] [-5.00982953e-01 8.64564832e-01 -3.92903701e-02 -1.84880617e+01] [-8.62622739e-02 -4.71040722e-03 9.96261327e-01 -1.10823421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.266296757 meters 0.07854686142241185 Centerline is valid? [True, True] Translation: X:92.09, Y:-18.50, Z:-11.09 [[ 8.61540265e-01 5.01593082e-01 7.84394827e-02 9.20876396e+01] [-5.00011036e-01 8.65090977e-01 -4.00819712e-02 -1.85013763e+01] [-8.79621283e-02 -4.68837495e-03 9.96112786e-01 -1.10857408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.29629675700001 meters 0.07857340553005265 Centerline is valid? [True, True] Translation: X:92.12, Y:-18.52, Z:-11.09 [[ 8.61536402e-01 5.01533214e-01 7.88635720e-02 9.21158779e+01] [-4.99932508e-01 8.65125647e-01 -4.03125581e-02 -1.85159168e+01] [-8.84449856e-02 -4.69572705e-03 9.96069995e-01 -1.10891799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.32629675700001 meters 0.07837479464350622 Centerline is valid? [True, True] Translation: X:92.14, Y:-18.53, Z:-11.09 [[ 8.62012377e-01 5.00664964e-01 7.91786287e-02 9.21444889e+01] [-4.99045200e-01 8.65628924e-01 -4.05025214e-02 -1.85312808e+01] [-8.88175046e-02 -4.60003984e-03 9.96037294e-01 -1.10923519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.35629675700001 meters 0.0783325848347687 Centerline is valid? [True, True] Translation: X:92.17, Y:-18.55, Z:-11.10 [[ 8.62076171e-01 5.00608503e-01 7.88403607e-02 9.21734340e+01] [-4.99002090e-01 8.65661726e-01 -4.03322634e-02 -1.85454511e+01] [-8.84397567e-02 -4.57202160e-03 9.96071035e-01 -1.10966307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.38629675700001 meters 0.07891527557633517 Centerline is valid? [True, True] Translation: X:92.20, Y:-18.56, Z:-11.10 [[ 8.61867144e-01 5.01173290e-01 7.75265041e-02 9.22022985e+01] [-4.99619863e-01 8.65335099e-01 -3.96882849e-02 -1.85573135e+01] [-8.69771134e-02 -4.52775253e-03 9.96200021e-01 -1.11006035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.416296757 meters 0.07811707571283871 Centerline is valid? [True, True] Translation: X:92.23, Y:-18.57, Z:-11.10 [[ 8.61960173e-01 5.01039627e-01 7.73560047e-02 9.22293497e+01] [-4.99490665e-01 8.65412716e-01 -3.96220578e-02 -1.85736746e+01] [-8.67970911e-02 -4.48596642e-03 9.96215911e-01 -1.11036967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.446296757 meters 0.07821977419309238 Centerline is valid? [True, True] Translation: X:92.26, Y:-18.59, Z:-11.11 [[ 8.62145557e-01 5.00761416e-01 7.70911355e-02 9.22577232e+01] [-4.99219843e-01 8.65574061e-01 -3.95106700e-02 -1.85855232e+01] [-8.65135062e-02 -4.42147596e-03 9.96240866e-01 -1.11074706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.476296757 meters 0.0777602154861259 Centerline is valid? [True, True] Translation: X:92.29, Y:-18.60, Z:-11.11 [[ 8.62139037e-01 5.00835088e-01 7.66843963e-02 9.22868678e+01] [-4.99308325e-01 8.65531606e-01 -3.93222067e-02 -1.86007508e+01] [-8.60667096e-02 -4.38794805e-03 9.96279713e-01 -1.11103299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.506296757 meters 0.07800849667057032 Centerline is valid? [True, True] Translation: X:92.32, Y:-18.61, Z:-11.11 [[ 8.61586229e-01 5.01841248e-01 7.63186205e-02 9.23171754e+01] [-5.00330547e-01 8.64948337e-01 -3.91627042e-02 -1.86126367e+01] [-8.56651242e-02 -4.44249051e-03 9.96314082e-01 -1.11128829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.536296757 meters 0.07726868717734271 Centerline is valid? [True, True] Translation: X:92.35, Y:-18.63, Z:-11.12 [[ 8.61302794e-01 5.02190121e-01 7.72177359e-02 9.23451831e+01] [-5.00642880e-01 8.64745480e-01 -3.96479679e-02 -1.86286980e+01] [-8.66845059e-02 -4.50960412e-03 9.96225607e-01 -1.11154060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.566296757 meters 0.07846947671538376 Centerline is valid? [True, True] Translation: X:92.37, Y:-18.64, Z:-11.12 [[ 8.60539278e-01 5.03637531e-01 7.62980235e-02 9.23745016e+01] [-5.02130437e-01 8.63902938e-01 -3.92012570e-02 -1.86377383e+01] [-8.56573109e-02 -4.57733843e-03 9.96314144e-01 -1.11197613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.596296757 meters 0.07796386057922432 Centerline is valid? [True, True] Translation: X:92.40, Y:-18.65, Z:-11.12 [[ 8.60471682e-01 5.03848582e-01 7.56643249e-02 9.24029377e+01] [-5.02365837e-01 8.63780033e-01 -3.88924146e-02 -1.86514064e+01] [-8.49532210e-02 -4.54535047e-03 9.96374573e-01 -1.11227399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.626296757 meters 0.07799125174093763 Centerline is valid? [True, True] Translation: X:92.43, Y:-18.67, Z:-11.13 [[ 8.61007446e-01 5.03094801e-01 7.45774738e-02 9.24312979e+01] [-5.01649689e-01 8.64220098e-01 -3.83563685e-02 -1.86653719e+01] [-8.37482413e-02 -4.38664772e-03 9.96477290e-01 -1.11280348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.656296757 meters 0.07801783909039064 Centerline is valid? [True, True] Translation: X:92.46, Y:-18.68, Z:-11.13 [[ 8.61323928e-01 5.02631897e-01 7.40423346e-02 9.24602373e+01] [-5.01203874e-01 8.64489889e-01 -3.81039249e-02 -1.86794325e+01] [-8.31610977e-02 -4.29048269e-03 9.96526881e-01 -1.11329669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.68629675700001 meters 0.07843054936124759 Centerline is valid? [True, True] Translation: X:92.49, Y:-18.69, Z:-11.14 [[ 8.62314853e-01 5.01441613e-01 7.04939943e-02 9.24871974e+01] [-5.00141705e-01 8.65182443e-01 -3.62989643e-02 -1.86943455e+01] [-7.91919774e-02 -3.95585044e-03 9.96851535e-01 -1.11380559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.71629675700001 meters 0.0775384802141958 Centerline is valid? [True, True] Translation: X:92.51, Y:-18.71, Z:-11.14 [[ 8.62349078e-01 5.01333233e-01 7.08453050e-02 9.25138982e+01] [-5.00018368e-01 8.65245283e-01 -3.64997606e-02 -1.87121026e+01] [-7.95971090e-02 -3.94841883e-03 9.96819297e-01 -1.11395448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.74629675700001 meters 0.07744660249230055 Centerline is valid? [True, True] Translation: X:92.54, Y:-18.73, Z:-11.14 [[ 8.63008334e-01 5.00059209e-01 7.18150688e-02 9.25405680e+01] [-4.98701574e-01 8.65982609e-01 -3.70251456e-02 -1.87258303e+01] [-8.07053656e-02 -3.86127862e-03 9.96730523e-01 -1.11429156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.77629675700001 meters 0.07738954440106488 Centerline is valid? [True, True] Translation: X:92.57, Y:-18.74, Z:-11.15 [[ 8.62793944e-01 5.00410268e-01 7.19456270e-02 9.25702185e+01] [-4.99048101e-01 8.65779655e-01 -3.71023246e-02 -1.87397895e+01] [-8.08554443e-02 -3.89266753e-03 9.96718237e-01 -1.11470590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.806296757 meters 0.07785209126253359 Centerline is valid? [True, True] Translation: X:92.60, Y:-18.75, Z:-11.15 [[ 8.61830426e-01 5.02004673e-01 7.23852523e-02 9.26005726e+01] [-5.00628749e-01 8.64855476e-01 -3.73612299e-02 -1.87494135e+01] [-8.13582938e-02 -4.03909370e-03 9.96676735e-01 -1.11530393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.836296757 meters 0.07819007659737674 Centerline is valid? [True, True] Translation: X:92.63, Y:-18.76, Z:-11.16 [[ 8.60857730e-01 5.03647878e-01 7.25450500e-02 9.26292173e+01] [-5.02271453e-01 8.63898815e-01 -3.74462867e-02 -1.87623208e+01] [-8.15313256e-02 -4.20138232e-03 9.96661924e-01 -1.11571004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.866296757 meters 0.07852423814936439 Centerline is valid? [True, True] Translation: X:92.66, Y:-18.77, Z:-11.16 [[ 8.59702156e-01 5.05350448e-01 7.43849907e-02 9.26582939e+01] [-5.03907718e-01 8.62902704e-01 -3.84179097e-02 -1.87743540e+01] [-8.36015175e-02 -4.45521118e-03 9.96489306e-01 -1.11586442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.896296757 meters 0.07867718694937713 Centerline is valid? [True, True] Translation: X:92.69, Y:-18.79, Z:-11.16 [[ 8.59273158e-01 5.05922861e-01 7.54433455e-02 9.26863514e+01] [-5.04439132e-01 8.62566687e-01 -3.89855477e-02 -1.87888588e+01] [-8.47985964e-02 -4.55734102e-03 9.96387690e-01 -1.11618108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.926296757 meters 0.0767439368374018 Centerline is valid? [True, True] Translation: X:92.71, Y:-18.81, Z:-11.16 [[ 8.59226219e-01 5.06140552e-01 7.45120618e-02 9.27127880e+01] [-5.04692283e-01 8.62439251e-01 -3.85257989e-02 -1.88078207e+01] [-8.37615959e-02 -4.50328607e-03 9.96475647e-01 -1.11603625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.956296757 meters 0.07764124754500878 Centerline is valid? [True, True] Translation: X:92.74, Y:-18.82, Z:-11.17 [[ 8.59073152e-01 5.06398520e-01 7.45242179e-02 9.27430558e+01] [-5.04948809e-01 8.62287774e-01 -3.85550824e-02 -1.88185463e+01] [-8.37855586e-02 -4.50927893e-03 9.96473606e-01 -1.11667430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.986296757 meters 0.0771215339258689 Centerline is valid? [True, True] Translation: X:92.77, Y:-18.83, Z:-11.17 [[ 8.59689415e-01 5.05347997e-01 7.45487172e-02 9.27713577e+01] [-5.03891238e-01 8.62904493e-01 -3.85934639e-02 -1.88331615e+01] [-8.38315527e-02 -4.38605298e-03 9.96470287e-01 -1.11700795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.016296757 meters 0.07666638727290986 Centerline is valid? [True, True] Translation: X:92.80, Y:-18.85, Z:-11.17 [[ 8.60213947e-01 5.04383923e-01 7.50254903e-02 9.27997691e+01] [-5.02902495e-01 8.63468819e-01 -3.88674548e-02 -1.88491094e+01] [-8.43862908e-02 -4.29617962e-03 9.96423854e-01 -1.11729785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04629675700001 meters 0.07500917360300714 Centerline is valid? [True, True] Translation: X:92.83, Y:-18.87, Z:-11.17 [[ 8.61281233e-01 5.02350941e-01 7.64079175e-02 9.28251821e+01] [-5.00805470e-01 8.64653800e-01 -3.95940322e-02 -1.88680304e+01] [-8.59564955e-02 -4.16390622e-03 9.96290190e-01 -1.11732095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.07629675700001 meters 0.07602421141463803 Centerline is valid? [True, True] Translation: X:92.85, Y:-18.88, Z:-11.18 [[ 8.61596309e-01 5.01912398e-01 7.57347001e-02 9.28542587e+01] [-5.00390435e-01 8.64908915e-01 -3.92680709e-02 -1.88789695e+01] [-8.52127489e-02 -4.06369458e-03 9.96354492e-01 -1.11789423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10629675700001 meters 0.07588829087373872 Centerline is valid? [True, True] Translation: X:92.88, Y:-18.89, Z:-11.18 [[ 8.62591173e-01 5.00239424e-01 7.54783841e-02 9.28814792e+01] [-4.98720384e-01 8.65878458e-01 -3.91468373e-02 -1.88921915e+01] [-8.49378981e-02 -3.87489238e-03 9.96378712e-01 -1.11828333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.13629675700001 meters 0.07588829087373872 Centerline is valid? [True, True] Translation: X:92.91, Y:-18.91, Z:-11.19 [[ 8.62456417e-01 5.00472660e-01 7.54721453e-02 9.29100407e+01] [-4.98953460e-01 8.65743628e-01 -3.91588610e-02 -1.89071214e+01] [-8.49374682e-02 -3.88427702e-03 9.96378713e-01 -1.11865957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.166296757 meters 0.07585884893163568 Centerline is valid? [True, True] Translation: X:92.94, Y:-18.92, Z:-11.19 [[ 8.62638145e-01 5.00146938e-01 7.55544296e-02 9.29385674e+01] [-4.98620859e-01 8.65932070e-01 -3.92286701e-02 -1.89213188e+01] [-8.50451029e-02 -3.83286746e-03 9.96369730e-01 -1.11913666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.196296757 meters 0.0749673455269083 Centerline is valid? [True, True] Translation: X:92.97, Y:-18.94, Z:-11.19 [[ 8.64163314e-01 4.97670845e-01 7.44680943e-02 9.29658294e+01] [-4.96177314e-01 8.67358841e-01 -3.86873872e-02 -1.89369089e+01] [-8.38441447e-02 -3.51715823e-03 9.96472673e-01 -1.11944175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.226296757 meters 0.0745079510788437 Centerline is valid? [True, True] Translation: X:92.99, Y:-18.95, Z:-11.20 [[ 8.65203527e-01 4.95774446e-01 7.50370285e-02 9.29925075e+01] [-4.94249050e-01 8.68444898e-01 -3.90043033e-02 -1.89527707e+01] [-8.45028614e-02 -3.34031927e-03 9.96417638e-01 -1.11978040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.256296757 meters 0.07437691876972952 Centerline is valid? [True, True] Translation: X:93.02, Y:-18.97, Z:-11.20 [[ 8.65734024e-01 4.94765647e-01 7.55748320e-02 9.30203224e+01] [-4.93212846e-01 8.69020368e-01 -3.93025355e-02 -1.89687347e+01] [-8.51216126e-02 -3.24893578e-03 9.96365272e-01 -1.12002914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.286296757 meters 0.0740709993116752 Centerline is valid? [True, True] Translation: X:93.05, Y:-18.98, Z:-11.20 [[ 8.66067595e-01 4.93914562e-01 7.73002425e-02 9.30481873e+01] [-4.92283919e-01 8.69504509e-01 -4.02299928e-02 -1.89837855e+01] [-8.70830886e-02 -3.21177320e-03 9.96195874e-01 -1.12038402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.316296757 meters 0.07332253875483162 Centerline is valid? [True, True] Translation: X:93.08, Y:-19.00, Z:-11.21 [[ 8.66111384e-01 4.93353094e-01 8.03355154e-02 9.30756314e+01] [-4.91589077e-01 8.69822956e-01 -4.18115281e-02 -1.89982426e+01] [-9.05055222e-02 -3.27862143e-03 9.95890557e-01 -1.12055680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.346296757 meters 0.07347177868452018 Centerline is valid? [True, True] Translation: X:93.10, Y:-19.01, Z:-11.21 [[ 8.66272431e-01 4.93164709e-01 7.97536528e-02 9.31048747e+01] [-4.91423431e-01 8.69930013e-01 -4.15305224e-02 -1.90113466e+01] [-8.98614842e-02 -3.21606712e-03 9.95949080e-01 -1.12108066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.376296757 meters 0.07386304550131538 Centerline is valid? [True, True] Translation: X:93.13, Y:-19.02, Z:-11.22 [[ 8.66478621e-01 4.93065835e-01 7.81081370e-02 9.31328206e+01] [-4.91393919e-01 8.69986390e-01 -4.06902642e-02 -1.90228481e+01] [-8.80159952e-02 -3.12461953e-03 9.96114161e-01 -1.12167677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.406296757 meters 0.07383968934880468 Centerline is valid? [True, True] Translation: X:93.16, Y:-19.04, Z:-11.22 [[ 8.66483983e-01 4.93194551e-01 7.72311000e-02 9.31610672e+01] [-4.91559320e-01 8.69913552e-01 -4.02473390e-02 -1.90371448e+01] [-8.70341487e-02 -3.08999234e-03 9.96200536e-01 -1.12201161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43629675700001 meters 0.0742244663212222 Centerline is valid? [True, True] Translation: X:93.19, Y:-19.05, Z:-11.23 [[ 8.66547492e-01 4.93093369e-01 7.71645874e-02 9.31880637e+01] [-4.91458257e-01 8.69971035e-01 -4.02390287e-02 -1.90510214e+01] [-8.69725542e-02 -3.05414428e-03 9.96206026e-01 -1.12250276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46629675700001 meters 0.07439699553222108 Centerline is valid? [True, True] Translation: X:93.22, Y:-19.07, Z:-11.23 [[ 8.66374342e-01 4.93373822e-01 7.73160545e-02 9.32172837e+01] [-4.91732628e-01 8.69811923e-01 -4.03266893e-02 -1.90657583e+01] [-8.71465588e-02 -3.08081779e-03 9.96190738e-01 -1.12289095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49629675700001 meters 0.07349390413479659 Centerline is valid? [True, True] Translation: X:93.24, Y:-19.08, Z:-11.23 [[ 8.65914557e-01 4.94116256e-01 7.77245489e-02 9.32446167e+01] [-4.92458368e-01 8.69390133e-01 -4.05654104e-02 -1.90840621e+01] [-8.76169846e-02 -3.14992512e-03 9.96149257e-01 -1.12285677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52629675700001 meters 0.07351664428166002 Centerline is valid? [True, True] Translation: X:93.27, Y:-19.10, Z:-11.23 [[ 8.65850879e-01 4.94200217e-01 7.78999384e-02 9.32726317e+01] [-4.92532571e-01 8.69342445e-01 -4.06863566e-02 -1.90983021e+01] [-8.78289291e-02 -3.13993931e-03 9.96130624e-01 -1.12326160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.556296757 meters 0.07382455067921598 Centerline is valid? [True, True] Translation: X:93.30, Y:-19.11, Z:-11.24 [[ 8.65401946e-01 4.94949494e-01 7.81311044e-02 9.33003196e+01] [-4.93272714e-01 8.68915840e-01 -4.08325040e-02 -1.91111870e+01] [-8.80993814e-02 -3.20341345e-03 9.96106539e-01 -1.12366589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.586296757 meters 0.07381187516817443 Centerline is valid? [True, True] Translation: X:93.33, Y:-19.13, Z:-11.24 [[ 8.64867564e-01 4.95907502e-01 7.79733700e-02 9.33282860e+01] [-4.94239421e-01 8.68369175e-01 -4.07721774e-02 -1.91263681e+01] [-8.79288996e-02 -3.27497946e-03 9.96121370e-01 -1.12392128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.616296757 meters 0.0739771563782378 Centerline is valid? [True, True] Translation: X:93.36, Y:-19.14, Z:-11.24 [[ 8.63949023e-01 4.97208832e-01 7.98465045e-02 9.33563734e+01] [-4.95462725e-01 8.67623970e-01 -4.17772037e-02 -1.91417197e+01] [-9.00487359e-02 -3.46759243e-03 9.95931323e-01 -1.12416313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.646296757 meters 0.0747026238575032 Centerline is valid? [True, True] Translation: X:93.38, Y:-19.15, Z:-11.25 [[ 8.63822331e-01 4.97598989e-01 7.87796101e-02 9.33845075e+01] [-4.95898437e-01 8.67400389e-01 -4.12468832e-02 -1.91530438e+01] [-8.88578718e-02 -3.43670677e-03 9.96038387e-01 -1.12473353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.676296757 meters 0.0749118018397881 Centerline is valid? [True, True] Translation: X:93.41, Y:-19.17, Z:-11.25 [[ 8.63393480e-01 4.98365128e-01 7.86377610e-02 9.34124414e+01] [-4.96673090e-01 8.66960171e-01 -4.11813408e-02 -1.91677719e+01] [-8.86991509e-02 -3.50155856e-03 9.96052308e-01 -1.12517087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.706296757 meters 0.07468667709565695 Centerline is valid? [True, True] Translation: X:93.44, Y:-19.18, Z:-11.25 [[ 8.63347647e-01 4.98586927e-01 7.77297652e-02 9.34396167e+01] [-4.96932687e-01 8.66832787e-01 -4.07286598e-02 -1.91843419e+01] [-8.76854864e-02 -3.46346849e-03 9.96142189e-01 -1.12546781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.736296757 meters 0.07492095784926472 Centerline is valid? [True, True] Translation: X:93.47, Y:-19.20, Z:-11.26 [[ 8.63955223e-01 4.97660090e-01 7.69142930e-02 9.34671066e+01] [-4.96034679e-01 8.67365817e-01 -4.03253883e-02 -1.91989873e+01] [-8.67811650e-02 -3.31282679e-03 9.96221890e-01 -1.12592998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.766296757 meters 0.07476410915149119 Centerline is valid? [True, True] Translation: X:93.49, Y:-19.22, Z:-11.26 [[ 8.64205144e-01 4.97351919e-01 7.60955842e-02 9.34947024e+01] [-4.95758088e-01 8.67542875e-01 -3.99158948e-02 -1.92161561e+01] [-8.58684287e-02 -3.22947975e-03 9.96301251e-01 -1.12622673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.79629675700001 meters 0.07469030582028313 Centerline is valid? [True, True] Translation: X:93.52, Y:-19.23, Z:-11.27 [[ 8.64793567e-01 4.96233120e-01 7.67122965e-02 9.35215425e+01] [-4.94606386e-01 8.68183717e-01 -4.02685601e-02 -1.92318327e+01] [-8.65829599e-02 -3.11840004e-03 9.96239764e-01 -1.12657634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.82629675700001 meters 0.07327548440258251 Centerline is valid? [True, True] Translation: X:93.55, Y:-19.25, Z:-11.26 [[ 8.66380375e-01 4.93450904e-01 7.67544899e-02 9.35468899e+01] [-4.91809265e-01 8.69769082e-01 -4.03161320e-02 -1.92538496e+01] [-8.66527140e-02 -2.81946377e-03 9.96234590e-01 -1.12646366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.85629675700001 meters 0.07378647391200462 Centerline is valid? [True, True] Translation: X:93.58, Y:-19.27, Z:-11.27 [[ 8.67045646e-01 4.92153788e-01 7.75660823e-02 9.35750531e+01] [-4.90471402e-01 8.70504045e-01 -4.07493745e-02 -1.92666873e+01] [-8.75765474e-02 -2.71237740e-03 9.96154100e-01 -1.12713262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.88629675700001 meters 0.07298021435108304 Centerline is valid? [True, True] Translation: X:93.60, Y:-19.29, Z:-11.27 [[ 8.68768276e-01 4.89100117e-01 7.76064354e-02 9.36005721e+01] [-4.87401581e-01 8.72224395e-01 -4.07958809e-02 -1.92857062e+01] [-8.76434963e-02 -2.38333216e-03 9.96149054e-01 -1.12737043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.916296757 meters 0.0729216536250803 Centerline is valid? [True, True] Translation: X:93.63, Y:-19.30, Z:-11.28 [[ 8.70147777e-01 4.86596033e-01 7.78918916e-02 9.36259060e+01] [-4.84872854e-01 8.73624527e-01 -4.09695139e-02 -1.93037724e+01] [-8.79838699e-02 -2.11813236e-03 9.96119648e-01 -1.12777524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.946296757 meters 0.0727447991837459 Centerline is valid? [True, True] Translation: X:93.65, Y:-19.32, Z:-11.28 [[ 8.70466309e-01 4.85846294e-01 7.90049586e-02 9.36533419e+01] [-4.84068342e-01 8.74041857e-01 -4.15773124e-02 -1.93207154e+01] [-8.92538238e-02 -2.05214961e-03 9.96006799e-01 -1.12805033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.976296757 meters 0.07254620964102876 Centerline is valid? [True, True] Translation: X:93.68, Y:-19.34, Z:-11.28 [[ 8.70934956e-01 4.84948053e-01 7.93579775e-02 9.36793540e+01] [-4.83147886e-01 8.74540797e-01 -4.17913204e-02 -1.93371526e+01] [-8.96684084e-02 -1.94411731e-03 9.95969777e-01 -1.12841927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.006296757 meters 0.07257332041983415 Centerline is valid? [True, True] Translation: X:93.71, Y:-19.35, Z:-11.29 [[ 8.70974343e-01 4.84880972e-01 7.93355997e-02 9.37077873e+01] [-4.83080620e-01 8.74578028e-01 -4.17898074e-02 -1.93522961e+01] [-8.96482548e-02 -1.92764066e-03 9.95971623e-01 -1.12892309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.036296757 meters 0.0726347332775089 Centerline is valid? [True, True] Translation: X:93.74, Y:-19.37, Z:-11.29 [[ 8.70729689e-01 4.85435238e-01 7.86284838e-02 9.37357200e+01] [-4.83666551e-01 8.74270474e-01 -4.14464222e-02 -1.93658809e+01] [-8.88621156e-02 -1.94133725e-03 9.96042045e-01 -1.12942736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.066296757 meters 0.07323478513874752 Centerline is valid? [True, True] Translation: X:93.76, Y:-19.38, Z:-11.30 [[ 8.69565114e-01 4.87608485e-01 7.80671344e-02 9.37641308e+01] [-4.85871755e-01 8.73059812e-01 -4.11728321e-02 -1.93780349e+01] [-8.82335000e-02 -2.12815717e-03 9.96097546e-01 -1.12993525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.096296757 meters 0.0730465455663078 Centerline is valid? [True, True] Translation: X:93.79, Y:-19.39, Z:-11.30 [[ 8.68533953e-01 4.89310816e-01 7.88904196e-02 9.37918285e+01] [-4.87542228e-01 8.72106419e-01 -4.16289527e-02 -1.93946980e+01] [-8.91703382e-02 -2.30625203e-03 9.96013721e-01 -1.13004429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.126296757 meters 0.073070547628049 Centerline is valid? [True, True] Translation: X:93.82, Y:-19.41, Z:-11.30 [[ 8.67810059e-01 4.90591505e-01 7.89029640e-02 9.38192688e+01] [-4.88825455e-01 8.71386329e-01 -4.16598205e-02 -1.94107671e+01] [-8.91929181e-02 -2.41696606e-03 9.96011437e-01 -1.13035961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.156296757 meters 0.07324331632709899 Centerline is valid? [True, True] Translation: X:93.85, Y:-19.42, Z:-11.31 [[ 8.66329123e-01 4.93075718e-01 7.96880567e-02 9.38472080e+01] [-4.91282164e-01 8.69982289e-01 -4.21028750e-02 -1.94239279e+01] [-9.00871034e-02 -2.67437415e-03 9.95930300e-01 -1.13090527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.18629675700001 meters 0.07365010001847938 Centerline is valid? [True, True] Translation: X:93.88, Y:-19.44, Z:-11.31 [[ 8.65293747e-01 4.94992507e-01 7.90515623e-02 9.38755093e+01] [-4.93234625e-01 8.68892594e-01 -4.17763587e-02 -1.94360896e+01] [-8.93663016e-02 -2.84214575e-03 9.95994772e-01 -1.13147931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.21629675700001 meters 0.07382929551231324 Centerline is valid? [True, True] Translation: X:93.90, Y:-19.45, Z:-11.32 [[ 8.63927290e-01 4.97224447e-01 7.99842948e-02 9.39043826e+01] [-4.95432243e-01 8.67616449e-01 -4.22917361e-02 -1.94488679e+01] [-9.04241749e-02 -3.08981361e-03 9.95898550e-01 -1.13208615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.24629675700001 meters 0.07422894005131386 Centerline is valid? [True, True] Translation: X:93.93, Y:-19.46, Z:-11.32 [[ 8.63161410e-01 4.98348935e-01 8.12448154e-02 9.39329029e+01] [-4.96502336e-01 8.66970509e-01 -4.29833340e-02 -1.94632629e+01] [-9.18575576e-02 -3.23668548e-03 9.95766897e-01 -1.13244742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.27629675700001 meters 0.07414459909075433 Centerline is valid? [True, True] Translation: X:93.96, Y:-19.48, Z:-11.33 [[ 8.62482244e-01 4.99414833e-01 8.19097311e-02 9.39597269e+01] [-4.97540051e-01 8.66356495e-01 -4.33626665e-02 -1.94817126e+01] [-9.26189864e-02 -3.35384191e-03 9.95695975e-01 -1.13255223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.306296757 meters 0.07447157490893852 Centerline is valid? [True, True] Translation: X:93.99, Y:-19.50, Z:-11.33 [[ 8.62237488e-01 4.99680855e-01 8.28586553e-02 9.39872647e+01] [-4.97760993e-01 8.66202917e-01 -4.38919229e-02 -1.94965195e+01] [-9.37043624e-02 -3.39854518e-03 9.95594266e-01 -1.13294639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.336296757 meters 0.07422512811406418 Centerline is valid? [True, True] Translation: X:94.01, Y:-19.51, Z:-11.33 [[ 8.62212660e-01 4.99673712e-01 8.31595501e-02 9.40146307e+01] [-4.97737575e-01 8.66207073e-01 -4.40750896e-02 -1.95128389e+01] [-9.40565541e-02 -3.38953255e-03 9.95561086e-01 -1.13325574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.366296757 meters 0.07408450401414128 Centerline is valid? [True, True] Translation: X:94.04, Y:-19.53, Z:-11.34 [[ 8.61937050e-01 5.00166682e-01 8.30530667e-02 9.40424826e+01] [-4.98235371e-01 8.65922408e-01 -4.40442738e-02 -1.95282104e+01] [-9.39469899e-02 -3.41658406e-03 9.95571339e-01 -1.13369961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.396296757 meters 0.07482419325783556 Centerline is valid? [True, True] Translation: X:94.07, Y:-19.54, Z:-11.34 [[ 8.62222392e-01 4.99580171e-01 8.36193742e-02 9.40706018e+01] [-4.97616859e-01 8.66261178e-01 -4.43737890e-02 -1.95406717e+01] [-9.46044827e-02 -3.35033590e-03 9.95509300e-01 -1.13436924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.426296757 meters 0.07446228753811346 Centerline is valid? [True, True] Translation: X:94.10, Y:-19.56, Z:-11.35 [[ 8.62778662e-01 4.98645232e-01 8.34620442e-02 9.40972273e+01] [-4.96683742e-01 8.66800148e-01 -4.43030898e-02 -1.95585059e+01] [-9.44364368e-02 -3.23047988e-03 9.95525652e-01 -1.13465632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.456296757 meters 0.07396252382019881 Centerline is valid? [True, True] Translation: X:94.12, Y:-19.58, Z:-11.35 [[ 8.63532063e-01 4.97206726e-01 8.42487305e-02 9.41231739e+01] [-4.95198714e-01 8.67626640e-01 -4.47464782e-02 -1.95772135e+01] [-9.53446929e-02 -3.07984439e-03 9.95439553e-01 -1.13489896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.486296757 meters 0.07374487583504537 Centerline is valid? [True, True] Translation: X:94.15, Y:-19.59, Z:-11.35 [[ 8.64267995e-01 4.95960191e-01 8.40495235e-02 9.41503418e+01] [-4.93953381e-01 8.68340373e-01 -4.46660417e-02 -1.95944585e+01] [-9.51361732e-02 -2.91311596e-03 9.95460005e-01 -1.13515568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.516296757 meters 0.07347142678338868 Centerline is valid? [True, True] Translation: X:94.18, Y:-19.61, Z:-11.36 [[ 8.64928686e-01 4.94915556e-01 8.34084017e-02 9.41776282e+01] [-4.92932042e-01 8.68936710e-01 -4.43508289e-02 -1.96116851e+01] [-9.44265373e-02 -2.75436959e-03 9.95528022e-01 -1.13550919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.54629675700001 meters 0.07344168934552739 Centerline is valid? [True, True] Translation: X:94.21, Y:-19.63, Z:-11.36 [[ 8.65199278e-01 4.94452614e-01 8.33475955e-02 9.42061672e+01] [-4.92467413e-01 8.69200457e-01 -4.43442587e-02 -1.96265962e+01] [-9.43719027e-02 -2.67935404e-03 9.95533407e-01 -1.13589990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.57629675700001 meters 0.07306823433484708 Centerline is valid? [True, True] Translation: X:94.23, Y:-19.64, Z:-11.36 [[ 8.65181117e-01 4.94455268e-01 8.35201989e-02 9.42332741e+01] [-4.92459434e-01 8.69198997e-01 -4.44613347e-02 -1.96434812e+01] [-9.45798142e-02 -2.66320262e-03 9.95513720e-01 -1.13610016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.60629675700001 meters 0.07335808676603198 Centerline is valid? [True, True] Translation: X:94.26, Y:-19.66, Z:-11.37 [[ 8.64812564e-01 4.95201882e-01 8.29115484e-02 9.42614405e+01] [-4.93236016e-01 8.68773732e-01 -4.41637247e-02 -1.96560425e+01] [-9.39013349e-02 -2.70161783e-03 9.95577843e-01 -1.13655859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.63629675700001 meters 0.07340566713409521 Centerline is valid? [True, True] Translation: X:94.29, Y:-19.67, Z:-11.37 [[ 8.64434035e-01 4.95983755e-01 8.21821990e-02 9.42892810e+01] [-4.94053737e-01 8.68327472e-01 -4.37984728e-02 -1.96706436e+01] [-9.30843921e-02 -2.74153196e-03 9.95654448e-01 -1.13696273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.666296757 meters 0.07434342844630239 Centerline is valid? [True, True] Translation: X:94.32, Y:-19.68, Z:-11.38 [[ 8.63875161e-01 4.97136452e-01 8.10867099e-02 9.43182641e+01] [-4.95260351e-01 8.67667840e-01 -4.32400815e-02 -1.96806140e+01] [-9.18525511e-02 -2.80500005e-03 9.95768668e-01 -1.13770348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.696296757 meters 0.07397242828760248 Centerline is valid? [True, True] Translation: X:94.35, Y:-19.70, Z:-11.38 [[ 8.63653799e-01 4.97624856e-01 8.04463652e-02 9.43453692e+01] [-4.95778092e-01 8.67387800e-01 -4.29242084e-02 -1.96970004e+01] [-9.11383488e-02 -2.81188976e-03 9.95834271e-01 -1.13792053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.726296757 meters 0.07405726333532102 Centerline is valid? [True, True] Translation: X:94.37, Y:-19.71, Z:-11.38 [[ 8.63479424e-01 4.97862802e-01 8.08449976e-02 9.43734906e+01] [-4.95997718e-01 8.67251148e-01 -4.31475444e-02 -1.97118602e+01] [-9.15944743e-02 -2.84191751e-03 9.95792336e-01 -1.13835154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.756296757 meters 0.07412560719779823 Centerline is valid? [True, True] Translation: X:94.40, Y:-19.73, Z:-11.39 [[ 8.63672765e-01 4.97745189e-01 7.94926471e-02 9.44004009e+01] [-4.95939116e-01 8.67318927e-01 -4.24531862e-02 -1.97265894e+01] [-9.00763466e-02 -2.75785236e-03 9.95931045e-01 -1.13881390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.786296757 meters 0.07442524290520112 Centerline is valid? [True, True] Translation: X:94.43, Y:-19.74, Z:-11.39 [[ 8.63598394e-01 4.97968612e-01 7.88991485e-02 9.44273311e+01] [-4.96189450e-01 8.67190690e-01 -4.21466125e-02 -1.97407442e+01] [-8.94082971e-02 -2.75117826e-03 9.95991259e-01 -1.13927752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.816296757 meters 0.07418542035886933 Centerline is valid? [True, True] Translation: X:94.46, Y:-19.76, Z:-11.40 [[ 8.63608723e-01 4.98000823e-01 7.85821420e-02 9.44553710e+01] [-4.96234259e-01 8.67172273e-01 -4.19977255e-02 -1.97573624e+01] [-8.90591566e-02 -2.72554888e-03 9.96022609e-01 -1.13960770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.846296757 meters 0.07429710965377936 Centerline is valid? [True, True] Translation: X:94.48, Y:-19.77, Z:-11.40 [[ 8.63427648e-01 4.98090057e-01 7.99936983e-02 9.44841926e+01] [-4.96256946e-01 8.67120920e-01 -4.27826248e-02 -1.97713469e+01] [-9.06738093e-02 -2.75772731e-03 9.95876827e-01 -1.14004419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.876296757 meters 0.07412887104900792 Centerline is valid? [True, True] Translation: X:94.51, Y:-19.79, Z:-11.40 [[ 8.63382835e-01 4.97754001e-01 8.25289971e-02 9.45114838e+01] [-4.95798559e-01 8.67313780e-01 -4.41655519e-02 -1.97867570e+01] [-9.35621165e-02 -2.78597842e-03 9.95609546e-01 -1.14032478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.906296757 meters 0.07409013714082052 Centerline is valid? [True, True] Translation: X:94.54, Y:-19.80, Z:-11.41 [[ 8.63389153e-01 4.97582465e-01 8.34916765e-02 9.45393030e+01] [-4.95577774e-01 8.67412230e-01 -4.47067472e-02 -1.98032298e+01] [-9.46669948e-02 -2.77729856e-03 9.95505121e-01 -1.14059545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93629675700001 meters 0.07382864211407164 Centerline is valid? [True, True] Translation: X:94.57, Y:-19.82, Z:-11.41 [[ 8.63796619e-01 4.97059562e-01 8.23844163e-02 9.45663857e+01] [-4.95103168e-01 8.67712338e-01 -4.41378614e-02 -1.98223852e+01] [-9.34251206e-02 -2.66265004e-03 9.95622748e-01 -1.14084860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96629675700001 meters 0.07372326873546363 Centerline is valid? [True, True] Translation: X:94.60, Y:-19.84, Z:-11.41 [[ 8.63792438e-01 4.97126018e-01 8.20265039e-02 9.45951428e+01] [-4.95184198e-01 8.67674358e-01 -4.39752117e-02 -1.98385448e+01] [-9.30335160e-02 -2.63277322e-03 9.95659497e-01 -1.14128896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99629675700001 meters 0.07402061258921891 Centerline is valid? [True, True] Translation: X:94.62, Y:-19.85, Z:-11.42 [[ 8.63604926e-01 4.97273122e-01 8.31021958e-02 9.46236678e+01] [-4.95277686e-01 8.67589986e-01 -4.45828337e-02 -1.98524288e+01] [-9.42684778e-02 -2.65670851e-03 9.95543267e-01 -1.14184422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02629675700001 meters 0.07402061258921891 Centerline is valid? [True, True] Translation: X:94.65, Y:-19.87, Z:-11.42 [[ 8.63467842e-01 4.97512847e-01 8.30918351e-02 9.46519891e+01] [-4.95516663e-01 8.67452527e-01 -4.46021340e-02 -1.98677240e+01] [-9.42683570e-02 -2.66088045e-03 9.95543267e-01 -1.14222034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.056296757 meters 0.074281168446984 Centerline is valid? [True, True] Translation: X:94.68, Y:-19.88, Z:-11.43 [[ 8.62874335e-01 4.98441529e-01 8.36894520e-02 9.46805449e+01] [-4.96417905e-01 8.66918940e-01 -4.49534859e-02 -1.98813344e+01] [-9.49586553e-02 -2.75573313e-03 9.95477403e-01 -1.14258510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.086296757 meters 0.07453505827937751 Centerline is valid? [True, True] Translation: X:94.71, Y:-19.89, Z:-11.43 [[ 8.61761157e-01 5.00309573e-01 8.40121369e-02 9.47086140e+01] [-4.98276350e-01 8.65841580e-01 -4.51557021e-02 -1.98937674e+01] [-9.53330313e-02 -2.94783086e-03 9.95441070e-01 -1.14296441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.116296757 meters 0.07459202377458315 Centerline is valid? [True, True] Translation: X:94.74, Y:-19.91, Z:-11.43 [[ 8.61118874e-01 5.01446783e-01 8.38177147e-02 9.47373239e+01] [-4.99426111e-01 8.65183128e-01 -4.50745539e-02 -1.99084807e+01] [-9.51201626e-02 -3.04620625e-03 9.95461137e-01 -1.14330101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.146296757 meters 0.07443726430926526 Centerline is valid? [True, True] Translation: X:94.77, Y:-19.92, Z:-11.44 [[ 8.60633299e-01 5.02229485e-01 8.41181876e-02 9.47653098e+01] [-5.00195521e-01 8.64728744e-01 -4.52619060e-02 -1.99244788e+01] [-9.54712784e-02 -3.12163722e-03 9.95427290e-01 -1.14350397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.176296757 meters 0.07522498788875422 Centerline is valid? [True, True] Translation: X:94.79, Y:-19.93, Z:-11.44 [[ 8.59803838e-01 5.03708990e-01 8.37532854e-02 9.47943774e+01] [-5.01697003e-01 8.63867298e-01 -4.50933361e-02 -1.99342659e+01] [-9.50656431e-02 -3.24734885e-03 9.95465709e-01 -1.14410853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.206296757 meters 0.0750268227448469 Centerline is valid? [True, True] Translation: X:94.82, Y:-19.95, Z:-11.45 [[ 8.59652899e-01 5.04056357e-01 8.32110664e-02 9.48222818e+01] [-5.02070457e-01 8.63664649e-01 -4.48177497e-02 -1.99487727e+01] [-9.44571281e-02 -3.25010959e-03 9.95523625e-01 -1.14450344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.236296757 meters 0.07466424505809839 Centerline is valid? [True, True] Translation: X:94.85, Y:-19.96, Z:-11.45 [[ 8.59558069e-01 5.04127686e-01 8.37568082e-02 9.48502555e+01] [-5.02113485e-01 8.63622989e-01 -4.51373644e-02 -1.99648080e+01] [-9.50893001e-02 -3.25723710e-03 9.95463417e-01 -1.14478243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.266296757 meters 0.0747698148023466 Centerline is valid? [True, True] Translation: X:94.88, Y:-19.98, Z:-11.45 [[ 8.59951842e-01 5.03591213e-01 8.29380493e-02 9.48779566e+01] [-5.01611097e-01 8.63936352e-01 -4.47245811e-02 -1.99793143e+01] [-9.41761018e-02 -3.14166002e-03 9.95550597e-01 -1.14521737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.29629675700001 meters 0.07436454907200594 Centerline is valid? [True, True] Translation: X:94.90, Y:-20.00, Z:-11.45 [[ 8.60118531e-01 5.03302605e-01 8.29614383e-02 9.49048016e+01] [-5.01318918e-01 8.64104666e-01 -4.47489558e-02 -1.99967788e+01] [-9.42096319e-02 -3.10073236e-03 9.95547553e-01 -1.14543603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.32629675700001 meters 0.07423993867961758 Centerline is valid? [True, True] Translation: X:94.93, Y:-20.01, Z:-11.46 [[ 8.60238633e-01 5.03164956e-01 8.25501076e-02 9.49331447e+01] [-5.01197664e-01 8.64185020e-01 -4.45550521e-02 -2.00109805e+01] [-9.37571072e-02 -3.04594393e-03 9.95590441e-01 -1.14583058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.35629675700001 meters 0.07424380341405795 Centerline is valid? [True, True] Translation: X:94.96, Y:-20.03, Z:-11.46 [[ 8.59767425e-01 5.03798309e-01 8.35897007e-02 9.49610054e+01] [-5.01782346e-01 8.63815611e-01 -4.51338849e-02 -2.00253066e+01] [-9.49444632e-02 -3.13919214e-03 9.95477621e-01 -1.14624141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.38629675700001 meters 0.07464383357528584 Centerline is valid? [True, True] Translation: X:94.99, Y:-20.04, Z:-11.47 [[ 8.59786730e-01 5.04088440e-01 8.16187656e-02 9.49894049e+01] [-5.02165530e-01 8.63646570e-01 -4.40951630e-02 -2.00373579e+01] [-9.27176289e-02 -3.07369464e-03 9.95687699e-01 -1.14690808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.416296757 meters 0.07425942703205743 Centerline is valid? [True, True] Translation: X:95.02, Y:-20.05, Z:-11.47 [[ 8.59999663e-01 5.03763272e-01 8.13827106e-02 9.50162470e+01] [-5.01847908e-01 8.63836505e-01 -4.39905727e-02 -2.00546834e+01] [-9.24621911e-02 -3.00986535e-03 9.95711647e-01 -1.14725810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.446296757 meters 0.07392055393475451 Centerline is valid? [True, True] Translation: X:95.04, Y:-20.07, Z:-11.48 [[ 8.60380488e-01 5.02961436e-01 8.23116651e-02 9.50440972e+01] [-5.00995473e-01 8.64303885e-01 -4.45233811e-02 -2.00714248e+01] [-9.35358355e-02 -2.93072322e-03 9.95611600e-01 -1.14751350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.476296757 meters 0.07382108912353476 Centerline is valid? [True, True] Translation: X:95.07, Y:-20.09, Z:-11.48 [[ 8.60838634e-01 5.02109568e-01 8.27213873e-02 9.50707130e+01] [-5.00119443e-01 8.64799327e-01 -4.47511616e-02 -2.00874736e+01] [-9.40073865e-02 -2.84704536e-03 9.95567429e-01 -1.14782361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.506296757 meters 0.07336720076543245 Centerline is valid? [True, True] Translation: X:95.10, Y:-20.10, Z:-11.48 [[ 8.62096186e-01 4.99875208e-01 8.31561320e-02 9.50979163e+01] [-4.97851012e-01 8.66093560e-01 -4.50146057e-02 -2.01046664e+01] [-9.45226759e-02 -2.59244455e-03 9.95519333e-01 -1.14826588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.536296757 meters 0.07355817816347943 Centerline is valid? [True, True] Translation: X:95.12, Y:-20.12, Z:-11.49 [[ 8.62494480e-01 4.99113991e-01 8.35972271e-02 9.51248360e+01] [-4.97064109e-01 8.66532681e-01 -4.52590872e-02 -2.01189777e+01] [-9.50291729e-02 -2.51746838e-03 9.95471305e-01 -1.14878808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.566296757 meters 0.0731148450247994 Centerline is valid? [True, True] Translation: X:95.15, Y:-20.14, Z:-11.49 [[ 8.63471118e-01 4.97355958e-01 8.39921376e-02 9.51520977e+01] [-4.95275749e-01 8.67543491e-01 -4.54997171e-02 -2.01371927e+01] [-9.54963876e-02 -2.31157729e-03 9.95427093e-01 -1.14899268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.596296757 meters 0.07279253455235021 Centerline is valid? [True, True] Translation: X:95.18, Y:-20.15, Z:-11.49 [[ 8.63907418e-01 4.96606650e-01 8.39393141e-02 9.51784292e+01] [-4.94524397e-01 8.67972880e-01 -4.54829721e-02 -2.01525131e+01] [-9.54441946e-02 -2.21696165e-03 9.95432314e-01 -1.14937639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.626296757 meters 0.07245624494674915 Centerline is valid? [True, True] Translation: X:95.21, Y:-20.17, Z:-11.50 [[ 8.64115691e-01 4.96356323e-01 8.32734831e-02 9.52064638e+01] [-4.94303460e-01 8.68116225e-01 -4.51476358e-02 -2.01702482e+01] [-9.47003763e-02 -2.14959034e-03 9.95503500e-01 -1.14958519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.656296757 meters 0.0728875074080748 Centerline is valid? [True, True] Translation: X:95.23, Y:-20.18, Z:-11.50 [[ 8.63866978e-01 4.96899889e-01 8.26095904e-02 9.52349616e+01] [-4.94881178e-01 8.67805127e-01 -4.47982279e-02 -2.01828856e+01] [-9.39492606e-02 -2.18222167e-03 9.95574595e-01 -1.15012771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.68629675700001 meters 0.07273871174789087 Centerline is valid? [True, True] Translation: X:95.26, Y:-20.20, Z:-11.50 [[ 8.63778204e-01 4.97364944e-01 8.07175741e-02 9.52614139e+01] [-4.95437704e-01 8.67538727e-01 -4.37954208e-02 -2.02006975e+01] [-9.18079285e-02 -2.16099968e-03 9.95774389e-01 -1.15025801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.71629675700001 meters 0.07289824533164933 Centerline is valid? [True, True] Translation: X:95.29, Y:-20.21, Z:-11.51 [[ 8.63100545e-01 4.98627792e-01 8.01734018e-02 9.52896334e+01] [-4.96729794e-01 8.66813255e-01 -4.35234688e-02 -2.02149361e+01] [-9.11973786e-02 -2.25938767e-03 9.95830273e-01 -1.15058513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.74629675700001 meters 0.07336038524668884 Centerline is valid? [True, True] Translation: X:95.32, Y:-20.23, Z:-11.51 [[ 8.62637818e-01 4.99620094e-01 7.89668024e-02 9.53181598e+01] [-4.97780480e-01 8.66241568e-01 -4.28968426e-02 -2.02267815e+01] [-8.98364513e-02 -2.30369415e-03 9.95953867e-01 -1.15109911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.77629675700001 meters 0.07317838419163367 Centerline is valid? [True, True] Translation: X:95.35, Y:-20.24, Z:-11.51 [[ 8.62155558e-01 5.00417358e-01 7.91849906e-02 9.53469856e+01] [-4.98570118e-01 8.65781021e-01 -4.30239657e-02 -2.02430699e+01] [-9.00868012e-02 -2.38591897e-03 9.95931060e-01 -1.15134253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.806296757 meters 0.0736731748251279 Centerline is valid? [True, True] Translation: X:95.38, Y:-20.26, Z:-11.52 [[ 8.60933207e-01 5.02821007e-01 7.72337278e-02 9.53761756e+01] [-5.01070534e-01 8.64386816e-01 -4.19970452e-02 -2.02560206e+01] [-8.78768127e-02 -2.54289446e-03 9.96128104e-01 -1.15179891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.836296757 meters 0.07406164630168643 Centerline is valid? [True, True] Translation: X:95.40, Y:-20.27, Z:-11.52 [[ 8.60202884e-01 5.04228672e-01 7.61869110e-02 9.54037894e+01] [-5.02530545e-01 8.63566120e-01 -4.14319615e-02 -2.02698740e+01] [-8.66836180e-02 -2.64635711e-03 9.96232376e-01 -1.15224521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.866296757 meters 0.07471979544809035 Centerline is valid? [True, True] Translation: X:95.43, Y:-20.28, Z:-11.53 [[ 8.59020206e-01 5.06308490e-01 7.57363799e-02 9.54312098e+01] [-5.04636462e-01 8.62347822e-01 -4.12101264e-02 -2.02828007e+01] [-8.61761391e-02 -2.81900755e-03 9.96275929e-01 -1.15269845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.896296757 meters 0.07462944897790279 Centerline is valid? [True, True] Translation: X:95.46, Y:-20.30, Z:-11.53 [[ 8.58434447e-01 5.07253504e-01 7.60538099e-02 9.54594733e+01] [-5.05569626e-01 8.61791974e-01 -4.13998524e-02 -2.02978517e+01] [-8.65427832e-02 -2.91143682e-03 9.96243881e-01 -1.15299267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.926296757 meters 0.07500314217893077 Centerline is valid? [True, True] Translation: X:95.49, Y:-20.31, Z:-11.53 [[ 8.57674993e-01 5.08475048e-01 7.64639298e-02 9.54879716e+01] [-5.06775670e-01 8.61071392e-01 -4.16470620e-02 -2.03121481e+01] [-8.70173944e-02 -3.03041569e-03 9.96202183e-01 -1.15332865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.956296757 meters 0.07541481581498347 Centerline is valid? [True, True] Translation: X:95.52, Y:-20.33, Z:-11.54 [[ 8.56058158e-01 5.11184211e-01 7.65188350e-02 9.55169912e+01] [-5.09490730e-01 8.59464902e-01 -4.17046541e-02 -2.03250255e+01] [-8.70840138e-02 -3.28402774e-03 9.96195558e-01 -1.15367679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.986296757 meters 0.07587588785254469 Centerline is valid? [True, True] Translation: X:95.55, Y:-20.34, Z:-11.54 [[ 8.55161599e-01 5.12606471e-01 7.70275646e-02 9.55453593e+01] [-5.10895432e-01 8.58616757e-01 -4.19895440e-02 -2.03380721e+01] [-8.76612697e-02 -3.44518526e-03 9.96144383e-01 -1.15414882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.016296757 meters 0.075957362149998 Centerline is valid? [True, True] Translation: X:95.57, Y:-20.35, Z:-11.54 [[ 8.54040804e-01 5.14658797e-01 7.57669371e-02 9.55732733e+01] [-5.13009617e-01 8.57387616e-01 -4.13232099e-02 -2.03522540e+01] [-8.62289870e-02 -3.57746004e-03 9.96268921e-01 -1.15447199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.04629675700001 meters 0.07636293362398651 Centerline is valid? [True, True] Translation: X:95.60, Y:-20.37, Z:-11.55 [[ 8.53502274e-01 5.15626417e-01 7.52546741e-02 9.56016446e+01] [-5.14001026e-01 8.56805833e-01 -4.10695712e-02 -2.03666544e+01] [-8.56551996e-02 -3.62800732e-03 9.96318234e-01 -1.15490918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.07629675700001 meters 0.07720881076005796 Centerline is valid? [True, True] Translation: X:95.63, Y:-20.38, Z:-11.55 [[ 8.52312666e-01 5.17797692e-01 7.38151042e-02 9.56295425e+01] [-5.16241817e-01 8.55494794e-01 -4.02870150e-02 -2.03798650e+01] [-8.40089608e-02 -3.76931036e-03 9.96457870e-01 -1.15534309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.10629675700001 meters 0.07718178427668479 Centerline is valid? [True, True] Translation: X:95.66, Y:-20.40, Z:-11.56 [[ 8.51655886e-01 5.18822603e-01 7.41981058e-02 9.56573569e+01] [-5.17252634e-01 8.54873153e-01 -4.05167193e-02 -2.03952126e+01] [-8.44509584e-02 -3.87286323e-03 9.96420110e-01 -1.15564953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.13629675700001 meters 0.07675834277991206 Centerline is valid? [True, True] Translation: X:95.68, Y:-20.41, Z:-11.56 [[ 8.51286962e-01 5.19475306e-01 7.38641597e-02 9.56843717e+01] [-5.17919940e-01 8.54476564e-01 -4.03576222e-02 -2.04111529e+01] [-8.40799815e-02 -3.89980354e-03 9.96451378e-01 -1.15598325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.166296757 meters 0.07739084770786124 Centerline is valid? [True, True] Translation: X:95.71, Y:-20.42, Z:-11.57 [[ 8.50234562e-01 5.21187552e-01 7.39237825e-02 9.57129434e+01] [-5.19633952e-01 8.53432557e-01 -4.04156817e-02 -2.04242710e+01] [-8.41531129e-02 -4.05049783e-03 9.96444603e-01 -1.15650191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.196296757 meters 0.07720322284277129 Centerline is valid? [True, True] Translation: X:95.74, Y:-20.44, Z:-11.57 [[ 8.49873200e-01 5.21590533e-01 7.52253913e-02 9.57412131e+01] [-5.19982601e-01 8.53185817e-01 -4.11346139e-02 -2.04397424e+01] [-8.56366621e-02 -4.15668872e-03 9.96317763e-01 -1.15677398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.226296757 meters 0.07813667785883524 Centerline is valid? [True, True] Translation: X:95.77, Y:-20.45, Z:-11.57 [[ 8.49371419e-01 5.22220100e-01 7.65137866e-02 9.57693052e+01] [-5.20556840e-01 8.52800050e-01 -4.18646871e-02 -2.04521021e+01] [-8.71135421e-02 -4.27110628e-03 9.96189233e-01 -1.15721153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.256296757 meters 0.07691984727093022 Centerline is valid? [True, True] Translation: X:95.80, Y:-20.47, Z:-11.57 [[ 8.48826440e-01 5.23173247e-01 7.60488535e-02 9.57954768e+01] [-5.21532098e-01 8.52215383e-01 -4.16318571e-02 -2.04708247e+01] [-8.65906767e-02 -4.32369709e-03 9.96234591e-01 -1.15730156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.286296757 meters 0.07728912854695659 Centerline is valid? [True, True] Translation: X:95.82, Y:-20.48, Z:-11.58 [[ 8.48426700e-01 5.23644211e-01 7.72584944e-02 9.58225853e+01] [-5.21949974e-01 8.51925589e-01 -4.23203882e-02 -2.04848062e+01] [-8.79793147e-02 -4.41932185e-03 9.96112499e-01 -1.15773802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.316296757 meters 0.07670537574385936 Centerline is valid? [True, True] Translation: X:95.85, Y:-20.50, Z:-11.58 [[ 8.47670350e-01 5.24920841e-01 7.68966161e-02 9.58499261e+01] [-5.23245727e-01 8.51139095e-01 -4.21443968e-02 -2.05017186e+01] [-8.75721885e-02 -4.51127019e-03 9.96147961e-01 -1.15790532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.346296757 meters 0.0777146751768301 Centerline is valid? [True, True] Translation: X:95.88, Y:-20.51, Z:-11.58 [[ 8.46925483e-01 5.26208808e-01 7.62988596e-02 9.58774444e+01] [-5.24562543e-01 8.50343028e-01 -4.18434371e-02 -2.05139561e+01] [-8.68985885e-02 -4.58525058e-03 9.96206610e-01 -1.15846938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.376296757 meters 0.07786045752853536 Centerline is valid? [True, True] Translation: X:95.91, Y:-20.53, Z:-11.59 [[ 8.46581665e-01 5.26705403e-01 7.66870427e-02 9.59062725e+01] [-5.25042857e-01 8.50035198e-01 -4.20732755e-02 -2.05299272e+01] [-8.73469070e-02 -4.64552037e-03 9.96167123e-01 -1.15892890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.406296757 meters 0.0782938419122411 Centerline is valid? [True, True] Translation: X:95.93, Y:-20.54, Z:-11.59 [[ 8.46148944e-01 5.27465786e-01 7.62352274e-02 9.59329388e+01] [-5.25823319e-01 8.49563433e-01 -4.18546336e-02 -2.05447659e+01] [-8.68435487e-02 -4.67100628e-03 9.96211012e-01 -1.15932587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.43629675700001 meters 0.07812915937715588 Centerline is valid? [True, True] Translation: X:95.96, Y:-20.56, Z:-11.60 [[ 8.45951081e-01 5.27909835e-01 7.53523397e-02 9.59595446e+01] [-5.26305140e-01 8.49287729e-01 -4.13914527e-02 -2.05615997e+01] [-8.58467725e-02 -4.64317955e-03 9.96297532e-01 -1.15966826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.46629675700001 meters 0.07740187110775772 Centerline is valid? [True, True] Translation: X:95.99, Y:-20.58, Z:-11.60 [[ 8.46326873e-01 5.27425571e-01 7.45190593e-02 9.59861973e+01] [-5.25852583e-01 8.49589189e-01 -4.09545041e-02 -2.05800882e+01] [-8.49110399e-02 -4.52514242e-03 9.96378261e-01 -1.16004924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.49629675700001 meters 0.07854473213387589 Centerline is valid? [True, True] Translation: X:96.01, Y:-20.59, Z:-11.61 [[ 8.46744957e-01 5.26747081e-01 7.45686917e-02 9.60131429e+01] [-5.25167278e-01 8.50010475e-01 -4.10063871e-02 -2.05934838e+01] [-8.49841638e-02 -4.43908532e-03 9.96372414e-01 -1.16075507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.52629675700001 meters 0.07687853509807598 Centerline is valid? [True, True] Translation: X:96.04, Y:-20.61, Z:-11.61 [[ 8.47398089e-01 5.25599126e-01 7.52465134e-02 9.60388118e+01] [-5.23983674e-01 8.50721290e-01 -4.14052742e-02 -2.06135619e+01] [-8.57763869e-02 -4.34119428e-03 9.96304956e-01 -1.16092434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.556296757 meters 0.07792300528759105 Centerline is valid? [True, True] Translation: X:96.07, Y:-20.63, Z:-11.62 [[ 8.47518449e-01 5.25305794e-01 7.59361694e-02 9.60669908e+01] [-5.23658756e-01 8.50902428e-01 -4.17919325e-02 -2.06266354e+01] [-8.65678152e-02 -4.34520615e-03 9.96236484e-01 -1.16151775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.586296757 meters 0.0772641399351934 Centerline is valid? [True, True] Translation: X:96.09, Y:-20.65, Z:-11.62 [[ 8.47521134e-01 5.25279940e-01 7.60849067e-02 9.60917843e+01] [-5.23624209e-01 8.50918465e-01 -4.18981493e-02 -2.06484903e+01] [-8.67503093e-02 -4.33033209e-03 9.96220674e-01 -1.16157245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.616296757 meters 0.077682710816085 Centerline is valid? [True, True] Translation: X:96.12, Y:-20.66, Z:-11.62 [[ 8.47506071e-01 5.25189283e-01 7.68744278e-02 9.61186534e+01] [-5.23496420e-01 8.50974345e-01 -4.23575466e-02 -2.06643738e+01] [-8.76638953e-02 -4.34520984e-03 9.96140633e-01 -1.16204463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.646296757 meters 0.07715487821973536 Centerline is valid? [True, True] Translation: X:96.15, Y:-20.68, Z:-11.62 [[ 8.47601449e-01 5.25102675e-01 7.64131165e-02 9.61454716e+01] [-5.23427759e-01 8.51028068e-01 -4.21261115e-02 -2.06829578e+01] [-8.71502407e-02 -4.29059315e-03 9.96185940e-01 -1.16235598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.676296757 meters 0.07657814867808543 Centerline is valid? [True, True] Translation: X:96.17, Y:-20.70, Z:-11.63 [[ 8.47220768e-01 5.25701497e-01 7.65173610e-02 9.61724747e+01] [-5.24021923e-01 8.50658072e-01 -4.22121884e-02 -2.07007545e+01] [-8.72811214e-02 -4.33373195e-03 9.96174294e-01 -1.16271435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.706296757 meters 0.07819193081326721 Centerline is valid? [True, True] Translation: X:96.20, Y:-20.71, Z:-11.63 [[ 8.46673569e-01 5.26575054e-01 7.65674863e-02 9.62010016e+01] [-5.24894604e-01 8.50117232e-01 -4.22651968e-02 -2.07121077e+01] [-8.73471378e-02 -4.40503539e-03 9.96168195e-01 -1.16341294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.736296757 meters 0.07758541832216473 Centerline is valid? [True, True] Translation: X:96.23, Y:-20.73, Z:-11.64 [[ 8.45991669e-01 5.27651552e-01 7.66937745e-02 9.62255748e+01] [-5.25967983e-01 8.49448967e-01 -4.23572140e-02 -2.07333500e+01] [-8.74972973e-02 -4.50461962e-03 9.96154572e-01 -1.16358074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.766296757 meters 0.07765568410628011 Centerline is valid? [True, True] Translation: X:96.25, Y:-20.75, Z:-11.64 [[ 8.45522635e-01 5.28415034e-01 7.66095646e-02 9.62526582e+01] [-5.26735789e-01 8.48973975e-01 -4.23390881e-02 -2.07511684e+01] [-8.74121372e-02 -4.55434218e-03 9.96161822e-01 -1.16389796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.79629675700001 meters 0.07839761566992899 Centerline is valid? [True, True] Translation: X:96.28, Y:-20.77, Z:-11.64 [[ 8.45012273e-01 5.29129890e-01 7.73034099e-02 9.62789777e+01] [-5.27421818e-01 8.48528051e-01 -4.27360907e-02 -2.07667401e+01] [-8.82070547e-02 -4.65898385e-03 9.96091266e-01 -1.16423469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.82629675700001 meters 0.07758374844706722 Centerline is valid? [True, True] Translation: X:96.30, Y:-20.79, Z:-11.64 [[ 8.44358931e-01 5.30095822e-01 7.78229813e-02 9.63046536e+01] [-5.28367803e-01 8.47924255e-01 -4.30339667e-02 -2.07858017e+01] [-8.88001194e-02 -4.78304355e-03 9.96037982e-01 -1.16445823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.85629675700001 meters 0.07939298937104702 Centerline is valid? [True, True] Translation: X:96.33, Y:-20.80, Z:-11.65 [[ 8.44456407e-01 5.29998847e-01 7.74247912e-02 9.63344744e+01] [-5.28285592e-01 8.47985202e-01 -4.28419221e-02 -2.07969324e+01] [-8.83612466e-02 -4.72426600e-03 9.96077292e-01 -1.16514845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.88629675700001 meters 0.08015619315638078 Centerline is valid? [True, True] Translation: X:96.36, Y:-20.81, Z:-11.66 [[ 8.44142311e-01 5.30764396e-01 7.55838264e-02 9.63608011e+01] [-5.29133318e-01 8.47506522e-01 -4.18405035e-02 -2.08119034e+01] [-8.62652354e-02 -4.67458152e-03 9.96261240e-01 -1.16569723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.91629675700001 meters 0.07835773377742584 Centerline is valid? [True, True] Translation: X:96.38, Y:-20.84, Z:-11.66 [[ 8.44467445e-01 5.30212662e-01 7.58239233e-02 9.63842386e+01] [-5.28567503e-01 8.47852111e-01 -4.19903884e-02 -2.08357564e+01] [-8.65513090e-02 -4.61854575e-03 9.96236689e-01 -1.16580689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.946296757 meters 0.07835773377742584 Centerline is valid? [True, True] Translation: X:96.41, Y:-20.85, Z:-11.66 [[ 8.44313871e-01 5.30458640e-01 7.58137094e-02 9.64123660e+01] [-5.28812818e-01 8.47698214e-01 -4.20088198e-02 -2.08514620e+01] [-8.65510875e-02 -4.62263211e-03 9.96236689e-01 -1.16618346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.976296757 meters 0.07848434651952903 Centerline is valid? [True, True] Translation: X:96.44, Y:-20.87, Z:-11.67 [[ 8.44274431e-01 5.30572170e-01 7.54576568e-02 9.64394917e+01] [-5.28939774e-01 8.47627349e-01 -4.18400878e-02 -2.08691755e+01] [-8.61591597e-02 -4.58803962e-03 9.96270821e-01 -1.16656666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.006296757 meters 0.07865188809443135 Centerline is valid? [True, True] Translation: X:96.47, Y:-20.88, Z:-11.67 [[ 8.44355402e-01 5.30465285e-01 7.53029572e-02 9.64660469e+01] [-5.28836548e-01 8.47694492e-01 -4.17846047e-02 -2.08841044e+01] [-8.59991843e-02 -4.54189928e-03 9.96284855e-01 -1.16689325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.036296757 meters 0.07914718048746722 Centerline is valid? [True, True] Translation: X:96.49, Y:-20.90, Z:-11.67 [[ 8.44350309e-01 5.30392389e-01 7.58714028e-02 9.64935630e+01] [-5.28736669e-01 8.47740063e-01 -4.21226803e-02 -2.08990934e+01] [-8.66607768e-02 -4.54969471e-03 9.96227489e-01 -1.16749604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.066296757 meters 0.07883357531129309 Centerline is valid? [True, True] Translation: X:96.52, Y:-20.92, Z:-11.68 [[ 8.44009328e-01 5.31034845e-01 7.51681289e-02 9.65209178e+01] [-5.29410199e-01 8.47337754e-01 -4.17560871e-02 -2.09156739e+01] [-8.58667308e-02 -4.55224710e-03 9.96296232e-01 -1.16781870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.096296757 meters 0.07987624781377059 Centerline is valid? [True, True] Translation: X:96.55, Y:-20.93, Z:-11.68 [[ 8.43788612e-01 5.31077301e-01 7.73154447e-02 9.65479110e+01] [-5.29356133e-01 8.47310534e-01 -4.29760845e-02 -2.09304246e+01] [-8.83338137e-02 -4.66467411e-03 9.96080006e-01 -1.16822339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.126296757 meters 0.0795399695179965 Centerline is valid? [True, True] Translation: X:96.57, Y:-20.95, Z:-11.68 [[ 8.44061433e-01 5.30478568e-01 7.84396991e-02 9.65745824e+01] [-5.28702163e-01 8.47685600e-01 -4.36250755e-02 -2.09488677e+01] [-8.96343710e-02 -4.64899487e-03 9.95963888e-01 -1.16848190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.156296757 meters 0.08037834697742419 Centerline is valid? [True, True] Translation: X:96.60, Y:-20.97, Z:-11.69 [[ 8.44350251e-01 5.29913978e-01 7.91443544e-02 9.66007963e+01] [-5.28100636e-01 8.48038877e-01 -4.40429463e-02 -2.09652467e+01] [-9.04564623e-02 -4.60851110e-03 9.95889748e-01 -1.16892858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.18629675700001 meters 0.07970994723830219 Centerline is valid? [True, True] Translation: X:96.63, Y:-20.98, Z:-11.69 [[ 8.44659771e-01 5.29521710e-01 7.84641946e-02 9.66270183e+01] [-5.27735515e-01 8.48284421e-01 -4.36894537e-02 -2.09830569e+01] [-8.96944681e-02 -4.50561817e-03 9.95959137e-01 -1.16925983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.21629675700001 meters 0.08013727860072191 Centerline is valid? [True, True] Translation: X:96.66, Y:-21.00, Z:-11.70 [[ 8.44855241e-01 5.29427752e-01 7.69797142e-02 9.66550099e+01] [-5.27706094e-01 8.48343673e-01 -4.28869423e-02 -2.09984200e+01] [-8.80107910e-02 -4.38940635e-03 9.96109850e-01 -1.16985615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.24629675700001 meters 0.07988784766737814 Centerline is valid? [True, True] Translation: X:96.68, Y:-21.02, Z:-11.70 [[ 8.44979385e-01 5.29125291e-01 7.76934066e-02 9.66818936e+01] [-5.27367571e-01 8.48532440e-01 -4.33144620e-02 -2.10151584e+01] [-8.88441532e-02 -4.37315565e-03 9.96035939e-01 -1.17024051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.27629675700001 meters 0.08050850555995093 Centerline is valid? [True, True] Translation: X:96.71, Y:-21.03, Z:-11.71 [[ 8.45379667e-01 5.28370465e-01 7.84720958e-02 9.67078107e+01] [-5.26573577e-01 8.49002873e-01 -4.37537333e-02 -2.10315329e+01] [-8.97412152e-02 -4.33281572e-03 9.95955692e-01 -1.17063739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.306296757 meters 0.0799893218606284 Centerline is valid? [True, True] Translation: X:96.73, Y:-21.05, Z:-11.71 [[ 8.45594581e-01 5.27960372e-01 7.89154640e-02 9.67338596e+01] [-5.26138719e-01 8.49258175e-01 -4.40295446e-02 -2.10500248e+01] [-9.02654577e-02 -4.28933685e-03 9.95908504e-01 -1.17090007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.336296757 meters 0.07967130951548362 Centerline is valid? [True, True] Translation: X:96.76, Y:-21.07, Z:-11.71 [[ 8.46230770e-01 5.26854060e-01 7.94876288e-02 9.67610334e+01] [-5.25000139e-01 8.49945417e-01 -4.43581132e-02 -2.10681294e+01] [-9.09303979e-02 -4.19381589e-03 9.95848420e-01 -1.17121290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.366296757 meters 0.08002719080737998 Centerline is valid? [True, True] Translation: X:96.79, Y:-21.08, Z:-11.72 [[ 8.46778074e-01 5.26186403e-01 7.80689638e-02 9.67883082e+01] [-5.24395025e-01 8.50359635e-01 -4.35700469e-02 -2.10842307e+01] [-8.93126618e-02 -4.04481575e-03 9.95995426e-01 -1.17186355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.396296757 meters 0.07960643502590466 Centerline is valid? [True, True] Translation: X:96.81, Y:-21.10, Z:-11.72 [[ 8.47155112e-01 5.25797881e-01 7.65820045e-02 9.68140886e+01] [-5.24069911e-01 8.50600595e-01 -4.27709658e-02 -2.11019190e+01] [-8.76295818e-02 -3.90068197e-03 9.96145492e-01 -1.17229302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.426296757 meters 0.07926749285971865 Centerline is valid? [True, True] Translation: X:96.84, Y:-21.12, Z:-11.73 [[ 8.47328259e-01 5.25534977e-01 7.64709744e-02 9.68406352e+01] [-5.23810056e-01 8.50763243e-01 -4.27191986e-02 -2.11196787e+01] [-8.75091272e-02 -3.85908123e-03 9.96156243e-01 -1.17256401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.456296757 meters 0.07856411335097428 Centerline is valid? [True, True] Translation: X:96.87, Y:-21.14, Z:-11.73 [[ 8.47502556e-01 5.25105699e-01 7.74817564e-02 9.68666068e+01] [-5.23330814e-01 8.51028334e-01 -4.33085950e-02 -2.11388416e+01] [-8.86807601e-02 -3.84444569e-03 9.96052681e-01 -1.17269190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.486296757 meters 0.07768062252280594 Centerline is valid? [True, True] Translation: X:96.89, Y:-21.16, Z:-11.73 [[ 8.48140622e-01 5.23947728e-01 7.83343070e-02 9.68920987e+01] [-5.22126278e-01 8.51742197e-01 -4.38107278e-02 -2.11594790e+01] [-8.96751661e-02 -3.74274220e-03 9.95964034e-01 -1.17281668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.516296757 meters 0.07800141136377813 Centerline is valid? [True, True] Translation: X:96.92, Y:-21.17, Z:-11.73 [[ 8.48315489e-01 5.23379003e-01 8.02200132e-02 9.69198926e+01] [-5.21463633e-01 8.52091758e-01 -4.48922663e-02 -2.11733438e+01] [-9.18504816e-02 -3.74901473e-03 9.95765753e-01 -1.17328514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.54629675700001 meters 0.07831064614630621 Centerline is valid? [True, True] Translation: X:96.95, Y:-21.19, Z:-11.74 [[ 8.47784053e-01 5.24222199e-01 8.03323504e-02 9.69485913e+01] [-5.22302821e-01 8.51572937e-01 -4.49810729e-02 -2.11877658e+01] [-9.19889325e-02 -3.82357687e-03 9.95752688e-01 -1.17367634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.57629675700001 meters 0.07783582008776643 Centerline is valid? [True, True] Translation: X:96.98, Y:-21.20, Z:-11.74 [[ 8.47223276e-01 5.25147980e-01 8.02017462e-02 9.69758422e+01] [-5.23236657e-01 8.51002009e-01 -4.49330826e-02 -2.12048969e+01] [-9.18483647e-02 -3.89614015e-03 9.95765383e-01 -1.17398556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.60629675700001 meters 0.0784700017823833 Centerline is valid? [True, True] Translation: X:97.01, Y:-21.22, Z:-11.74 [[ 8.45607945e-01 5.27631221e-01 8.09475016e-02 9.70052019e+01] [-5.25692908e-01 8.49463248e-01 -4.53779388e-02 -2.12177453e+01] [-9.27047448e-02 -4.18158190e-03 9.95684862e-01 -1.17436212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.63629675700001 meters 0.07895794450602127 Centerline is valid? [True, True] Translation: X:97.03, Y:-21.23, Z:-11.75 [[ 8.44787196e-01 5.28848308e-01 8.15724298e-02 9.70335352e+01] [-5.26882989e-01 8.48705342e-01 -4.57554218e-02 -2.12315014e+01] [-9.34286343e-02 -4.32553120e-03 9.95616583e-01 -1.17479858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.66629675700001 meters 0.07928547421022564 Centerline is valid? [True, True] Translation: X:97.06, Y:-21.25, Z:-11.75 [[ 8.44545100e-01 5.29425886e-01 8.03231344e-02 9.70604943e+01] [-5.27520568e-01 8.48345300e-01 -4.50810567e-02 -2.12472730e+01] [-9.20088320e-02 -4.29911991e-03 9.95748910e-01 -1.17520780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.696296757 meters 0.07914546437667291 Centerline is valid? [True, True] Translation: X:97.09, Y:-21.26, Z:-11.75 [[ 8.44460996e-01 5.29600675e-01 8.00546758e-02 9.70887380e+01] [-5.27706776e-01 8.48236270e-01 -4.49531733e-02 -2.12643974e+01] [-9.17125106e-02 -4.28419347e-03 9.95776311e-01 -1.17549709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.726296757 meters 0.07942884051384394 Centerline is valid? [True, True] Translation: X:97.12, Y:-21.28, Z:-11.76 [[ 8.44413555e-01 5.29629909e-01 8.03611104e-02 9.71159782e+01] [-5.27718631e-01 8.48218055e-01 -4.51572474e-02 -2.12786950e+01] [-9.20803736e-02 -4.27666340e-03 9.95742394e-01 -1.17596415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.756296757 meters 0.07950455579551366 Centerline is valid? [True, True] Translation: X:97.14, Y:-21.29, Z:-11.76 [[ 8.44019544e-01 5.30279878e-01 8.02138402e-02 9.71447775e+01] [-5.28376334e-01 8.47811651e-01 -4.50982770e-02 -2.12921136e+01] [-9.19209371e-02 -4.31926762e-03 9.95756941e-01 -1.17633886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.786296757 meters 0.07944551393362331 Centerline is valid? [True, True] Translation: X:97.17, Y:-21.31, Z:-11.77 [[ 8.43687203e-01 5.30810797e-01 8.01985163e-02 9.71732381e+01] [-5.28907966e-01 8.47479168e-01 -4.51156730e-02 -2.13065743e+01] [-9.19144582e-02 -4.35411816e-03 9.95757387e-01 -1.17669537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.816296757 meters 0.0795077103877611 Centerline is valid? [True, True] Translation: X:97.20, Y:-21.32, Z:-11.77 [[ 8.43710900e-01 5.30699306e-01 8.06855879e-02 9.72011599e+01] [-5.28770257e-01 8.47549031e-01 -4.54164618e-02 -2.13208214e+01] [-9.24874766e-02 -4.34577523e-03 9.95704364e-01 -1.17717507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.846296757 meters 0.0797602825630115 Centerline is valid? [True, True] Translation: X:97.23, Y:-21.34, Z:-11.78 [[ 8.43644864e-01 5.30994044e-01 7.94271248e-02 9.72293497e+01] [-5.29123763e-01 8.47364705e-01 -4.47336599e-02 -2.13356035e+01] [-9.10570492e-02 -4.28745676e-03 9.95836448e-01 -1.17767350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.876296757 meters 0.07947016358293223 Centerline is valid? [True, True] Translation: X:97.26, Y:-21.35, Z:-11.78 [[ 8.44056402e-01 5.30462526e-01 7.86021566e-02 9.72569620e+01] [-5.28626362e-01 8.47698159e-01 -4.42944855e-02 -2.13519073e+01] [-9.01274681e-02 -4.16412807e-03 9.95921533e-01 -1.17807276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.906296757 meters 0.078810535896695 Centerline is valid? [True, True] Translation: X:97.28, Y:-21.37, Z:-11.78 [[ 8.44285903e-01 5.30062645e-01 7.88346804e-02 9.72835724e+01] [-5.28211511e-01 8.47948516e-01 -4.44512553e-02 -2.13689470e+01] [-9.04097002e-02 -4.11181746e-03 9.95896169e-01 -1.17835455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93629675700001 meters 0.07884152872364142 Centerline is valid? [True, True] Translation: X:97.31, Y:-21.38, Z:-11.79 [[ 8.44538204e-01 5.29694377e-01 7.86071837e-02 9.73107011e+01] [-5.27849941e-01 8.48178968e-01 -4.43494974e-02 -2.13833698e+01] [-9.01646394e-02 -4.03795236e-03 9.95918688e-01 -1.17875078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.96629675700001 meters 0.07848901249892817 Centerline is valid? [True, True] Translation: X:97.34, Y:-21.40, Z:-11.79 [[ 8.44669615e-01 5.29337816e-01 7.95909401e-02 9.73382640e+01] [-5.27443045e-01 8.48401578e-01 -4.49287863e-02 -2.13994261e+01] [-9.13075849e-02 -4.02970717e-03 9.95814584e-01 -1.17915005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.99629675700001 meters 0.07885250527644622 Centerline is valid? [True, True] Translation: X:97.37, Y:-21.41, Z:-11.80 [[ 8.44299818e-01 5.30166808e-01 7.79805891e-02 9.73659338e+01] [-5.28349001e-01 8.47883877e-01 -4.40484396e-02 -2.14121436e+01] [-8.94715049e-02 -4.01087675e-03 9.95981306e-01 -1.17958598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.02629675700001 meters 0.07896363514011431 Centerline is valid? [True, True] Translation: X:97.39, Y:-21.43, Z:-11.80 [[ 8.43683616e-01 5.31125451e-01 7.81262472e-02 9.73941960e+01] [-5.29304100e-01 8.47283213e-01 -4.41398597e-02 -2.14262928e+01] [-8.96388607e-02 -4.11246649e-03 9.95965844e-01 -1.18003039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.056296757 meters 0.08017949962833114 Centerline is valid? [True, True] Translation: X:97.42, Y:-21.44, Z:-11.81 [[ 8.43369663e-01 5.31642159e-01 7.80014555e-02 9.74238379e+01] [-5.29826504e-01 8.46958964e-01 -4.40952276e-02 -2.14357070e+01] [-8.95069139e-02 -4.13866124e-03 9.95977602e-01 -1.18073348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.086296757 meters 0.07920262163893521 Centerline is valid? [True, True] Translation: X:97.45, Y:-21.45, Z:-11.81 [[ 8.43108477e-01 5.31923179e-01 7.89039118e-02 9.74499057e+01] [-5.30064280e-01 8.46782213e-01 -4.46289471e-02 -2.14542425e+01] [-9.05536004e-02 -4.19710159e-03 9.95882739e-01 -1.18077912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.116296757 meters 0.07874136347760247 Centerline is valid? [True, True] Translation: X:97.48, Y:-21.47, Z:-11.81 [[ 8.43348533e-01 5.31630087e-01 7.83115697e-02 9.74767910e+01] [-5.29795497e-01 8.46966669e-01 -4.43192232e-02 -2.14713826e+01] [-8.98887218e-02 -4.11256512e-03 9.95943324e-01 -1.18094404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.146296757 meters 0.07870379701497975 Centerline is valid? [True, True] Translation: X:97.50, Y:-21.49, Z:-11.81 [[ 8.43547853e-01 5.31333240e-01 7.81793306e-02 9.75045958e+01] [-5.29501290e-01 8.47153213e-01 -4.42698259e-02 -2.14869813e+01] [-8.97519012e-02 -4.05233982e-03 9.95955910e-01 -1.18135459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.176296757 meters 0.07852947139336156 Centerline is valid? [True, True] Translation: X:97.53, Y:-21.50, Z:-11.82 [[ 8.43502820e-01 5.31509502e-01 7.74638098e-02 9.75334408e+01] [-5.29709523e-01 8.47042826e-01 -4.38893299e-02 -2.15006508e+01] [-8.89427602e-02 -4.01254416e-03 9.96028657e-01 -1.18181145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.206296757 meters 0.07888974645735403 Centerline is valid? [True, True] Translation: X:97.56, Y:-21.52, Z:-11.82 [[ 8.43570086e-01 5.31413945e-01 7.73868818e-02 9.75616472e+01] [-5.29614903e-01 8.47102947e-01 -4.38708657e-02 -2.15150905e+01] [-8.88682454e-02 -3.97709598e-03 9.96035450e-01 -1.18225033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.236296757 meters 0.07877854684847246 Centerline is valid? [True, True] Translation: X:97.59, Y:-21.53, Z:-11.83 [[ 8.44255943e-01 5.30579006e-01 7.56162739e-02 9.75891333e+01] [-5.28856208e-01 8.47627055e-01 -4.28892335e-02 -2.15331095e+01] [-8.68505265e-02 -3.78064563e-03 9.96214180e-01 -1.18262366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.266296757 meters 0.07852770762916272 Centerline is valid? [True, True] Translation: X:97.62, Y:-21.55, Z:-11.83 [[ 8.44378099e-01 5.30229549e-01 7.66958358e-02 9.76161912e+01] [-5.28453056e-01 8.47845734e-01 -4.35313664e-02 -2.15500839e+01] [-8.81078540e-02 -3.77321637e-03 9.96103794e-01 -1.18283849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29629675700001 meters 0.07867998926428225 Centerline is valid? [True, True] Translation: X:97.64, Y:-21.56, Z:-11.83 [[ 8.44169727e-01 5.30541889e-01 7.68295230e-02 9.76449215e+01] [-5.28758346e-01 8.47650237e-01 -4.36312620e-02 -2.15648029e+01] [-8.82727756e-02 -3.79206099e-03 9.96089121e-01 -1.18325313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32629675700001 meters 0.07879540760060715 Centerline is valid? [True, True] Translation: X:97.67, Y:-21.58, Z:-11.84 [[ 8.43796820e-01 5.31041018e-01 7.74749179e-02 9.76738036e+01] [-5.29226844e-01 8.47337357e-01 -4.40267008e-02 -2.15802024e+01] [-8.90273763e-02 -3.85221614e-03 9.96021730e-01 -1.18358067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35629675700001 meters 0.0799918446104085 Centerline is valid? [True, True] Translation: X:97.70, Y:-21.59, Z:-11.84 [[ 8.43142706e-01 5.31863959e-01 7.89373556e-02 9.77040769e+01] [-5.29981226e-01 8.46820425e-01 -4.48894953e-02 -2.15900241e+01] [-9.07208697e-02 -3.98706593e-03 9.95868378e-01 -1.18407009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38629675700001 meters 0.07868320660548465 Centerline is valid? [True, True] Translation: X:97.73, Y:-21.61, Z:-11.84 [[ 8.42853028e-01 5.32325016e-01 7.89230655e-02 9.77299597e+01] [-5.30442863e-01 8.46530536e-01 -4.49045802e-02 -2.16094822e+01] [-9.07146163e-02 -4.01621536e-03 9.95868831e-01 -1.18412704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41629675700001 meters 0.0790222734277046 Centerline is valid? [True, True] Translation: X:97.76, Y:-21.62, Z:-11.85 [[ 8.42588636e-01 5.32891456e-01 7.79171801e-02 9.77572265e+01] [-5.31057186e-01 8.46174137e-01 -4.43575782e-02 -2.16236743e+01] [-8.95692770e-02 -4.00328711e-03 9.95972549e-01 -1.18452178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.446296757 meters 0.07955016133170965 Centerline is valid? [True, True] Translation: X:97.79, Y:-21.64, Z:-11.85 [[ 8.41941985e-01 5.34194149e-01 7.59625291e-02 9.77860984e+01] [-5.32454263e-01 8.45352271e-01 -4.32665665e-02 -2.16363207e+01] [-8.73278431e-02 -4.01863363e-03 9.96171521e-01 -1.18512860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.476296757 meters 0.08009462881778424 Centerline is valid? [True, True] Translation: X:97.81, Y:-21.65, Z:-11.86 [[ 8.41868656e-01 5.34405076e-01 7.52886524e-02 9.78141521e+01] [-5.32694907e-01 8.45219101e-01 -4.29046376e-02 -2.16494955e+01] [-8.65638632e-02 -3.98581211e-03 9.96238330e-01 -1.18576162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.506296757 meters 0.08057756630323099 Centerline is valid? [True, True] Translation: X:97.84, Y:-21.66, Z:-11.86 [[ 8.41359840e-01 5.35177699e-01 7.54880789e-02 9.78429843e+01] [-5.33459655e-01 8.44729759e-01 -4.30398821e-02 -2.16630391e+01] [-8.68010117e-02 -4.05781620e-03 9.96217405e-01 -1.18621112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.536296757 meters 0.08084468205513431 Centerline is valid? [True, True] Translation: X:97.87, Y:-21.68, Z:-11.87 [[ 8.41250950e-01 5.35496926e-01 7.44303794e-02 9.78705631e+01] [-5.33825988e-01 8.44527642e-01 -4.24603043e-02 -2.16762201e+01] [-8.55958752e-02 -4.01309946e-03 9.96321856e-01 -1.18658325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.566296757 meters 0.07928401120340897 Centerline is valid? [True, True] Translation: X:97.90, Y:-21.70, Z:-11.86 [[ 8.41166728e-01 5.35690512e-01 7.39879153e-02 9.78964564e+01] [-5.34038421e-01 8.44404965e-01 -4.22282008e-02 -2.16968261e+01] [-8.50970095e-02 -3.99143197e-03 9.96364676e-01 -1.18645981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.596296757 meters 0.07939674919621367 Centerline is valid? [True, True] Translation: X:97.92, Y:-21.71, Z:-11.87 [[ 8.41506357e-01 5.34959176e-01 7.54037842e-02 9.79241200e+01] [-5.33237997e-01 8.44868575e-01 -4.30619262e-02 -2.17114719e+01] [-8.67426602e-02 -3.97127817e-03 9.96222836e-01 -1.18675404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.626296757 meters 0.079296489874373 Centerline is valid? [True, True] Translation: X:97.95, Y:-21.73, Z:-11.87 [[ 8.41908516e-01 5.34596059e-01 7.34649935e-02 9.79520559e+01] [-5.32959190e-01 8.45099112e-01 -4.19761048e-02 -2.17271071e+01] [-8.45254610e-02 -3.81380333e-03 9.96414021e-01 -1.18714344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.656296757 meters 0.07964974383789417 Centerline is valid? [True, True] Translation: X:97.98, Y:-21.74, Z:-11.88 [[ 8.42619228e-01 5.33611776e-01 7.24659198e-02 9.79796087e+01] [-5.32013608e-01 8.45721699e-01 -4.14286136e-02 -2.17406594e+01] [-8.33927969e-02 -3.64430900e-03 9.96510090e-01 -1.18772587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.68629675700001 meters 0.07891291915663802 Centerline is valid? [True, True] Translation: X:98.01, Y:-21.76, Z:-11.88 [[ 8.42572551e-01 5.33732693e-01 7.21173275e-02 9.80072308e+01] [-5.32148749e-01 8.45645487e-01 -4.12482645e-02 -2.17592075e+01] [-8.30012398e-02 -3.62249019e-03 9.96542860e-01 -1.18802478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.71629675700001 meters 0.07968717679103617 Centerline is valid? [True, True] Translation: X:98.04, Y:-21.77, Z:-11.89 [[ 8.42268468e-01 5.34354146e-01 7.10596516e-02 9.80352596e+01] [-5.32815972e-01 8.45253021e-01 -4.06751801e-02 -2.17720272e+01] [-8.17983363e-02 -3.60229566e-03 9.96642391e-01 -1.18854878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.74629675700001 meters 0.07950898238905232 Centerline is valid? [True, True] Translation: X:98.06, Y:-21.79, Z:-11.89 [[ 8.41565710e-01 5.35400249e-01 7.15103384e-02 9.80628971e+01] [-5.33845622e-01 8.44590270e-01 -4.09405278e-02 -2.17880203e+01] [-8.23165049e-02 -3.72133678e-03 9.96599290e-01 -1.18885447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.77629675700001 meters 0.07896468493533933 Centerline is valid? [True, True] Translation: X:98.09, Y:-21.80, Z:-11.89 [[ 8.41156586e-01 5.36086839e-01 7.11793382e-02 9.80900235e+01] [-5.34547224e-01 8.44154501e-01 -4.07730762e-02 -2.18048288e+01] [-8.19442683e-02 -3.75217607e-03 9.96629850e-01 -1.18912306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.806296757 meters 0.07896468493533933 Centerline is valid? [True, True] Translation: X:98.12, Y:-21.82, Z:-11.89 [[ 8.41008820e-01 5.36319864e-01 7.11699989e-02 9.81179199e+01] [-5.34779704e-01 8.44006455e-01 -4.07893700e-02 -2.18209395e+01] [-8.19440878e-02 -3.75605096e-03 9.96629850e-01 -1.18949956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.836296757 meters 0.07888508980642231 Centerline is valid? [True, True] Translation: X:98.15, Y:-21.83, Z:-11.90 [[ 8.40073352e-01 5.37864356e-01 7.05598860e-02 9.81467125e+01] [-5.36353744e-01 8.43022604e-01 -4.04666477e-02 -2.18347613e+01] [-8.12491463e-02 -3.85010668e-03 9.96686386e-01 -1.18979931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.866296757 meters 0.0784615483524145 Centerline is valid? [True, True] Translation: X:98.18, Y:-21.85, Z:-11.90 [[ 8.38790316e-01 5.39762368e-01 7.13259573e-02 9.81750776e+01] [-5.38223642e-01 8.41807648e-01 -4.09291526e-02 -2.18496216e+01] [-8.21347526e-02 -4.05833971e-03 9.96612970e-01 -1.19009390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.896296757 meters 0.07875628848847752 Centerline is valid? [True, True] Translation: X:98.20, Y:-21.86, Z:-11.90 [[ 8.38239589e-01 5.40647234e-01 7.10982418e-02 9.82036339e+01] [-5.39119571e-01 8.41239360e-01 -4.08219079e-02 -2.18647420e+01] [-8.18808910e-02 -4.11191434e-03 9.96633640e-01 -1.19040345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.926296757 meters 0.0788528825709914 Centerline is valid? [True, True] Translation: X:98.23, Y:-21.88, Z:-11.91 [[ 8.37717024e-01 5.41652174e-01 6.95924534e-02 9.82310205e+01] [-5.40190225e-01 8.40592710e-01 -3.99802077e-02 -2.18804317e+01] [-8.01542754e-02 -4.10106243e-03 9.96774033e-01 -1.19051080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.956296757 meters 0.07955505488587579 Centerline is valid? [True, True] Translation: X:98.26, Y:-21.89, Z:-11.91 [[ 8.37208588e-01 5.42479778e-01 6.92637713e-02 9.82583450e+01] [-5.41032644e-01 8.40058652e-01 -3.98138144e-02 -2.18936007e+01] [-7.97838196e-02 -4.14149395e-03 9.96803587e-01 -1.19092269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.986296757 meters 0.07975657264749052 Centerline is valid? [True, True] Translation: X:98.29, Y:-21.91, Z:-11.91 [[ 8.36967260e-01 5.42924724e-01 6.86917035e-02 9.82863997e+01] [-5.41501640e-01 8.39771183e-01 -3.95010574e-02 -2.19066365e+01] [-7.91314139e-02 -4.13557830e-03 9.96855615e-01 -1.19142787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.016296757 meters 0.07995629134153819 Centerline is valid? [True, True] Translation: X:98.32, Y:-21.92, Z:-11.92 [[ 8.36055169e-01 5.44151731e-01 7.00760157e-02 9.83156159e+01] [-5.42673338e-01 8.38975696e-01 -4.03166144e-02 -2.19206233e+01] [-8.07304295e-02 -4.32147151e-03 9.96726604e-01 -1.19171779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04629675700001 meters 0.07976153480089004 Centerline is valid? [True, True] Translation: X:98.34, Y:-21.94, Z:-11.92 [[ 8.36195677e-01 5.43917259e-01 7.02196945e-02 9.83432666e+01] [-5.42429727e-01 8.39127916e-01 -4.04268726e-02 -2.19360030e+01] [-8.09121796e-02 -4.28447360e-03 9.96712026e-01 -1.19201408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07629675700001 meters 0.08010946533416181 Centerline is valid? [True, True] Translation: X:98.37, Y:-21.95, Z:-11.92 [[ 8.35956705e-01 5.44175261e-01 7.10610491e-02 9.83712847e+01] [-5.42650829e-01 8.38960330e-01 -4.09346227e-02 -2.19508842e+01] [-8.18930102e-02 -4.34176492e-03 9.96631669e-01 -1.19242193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10629675700001 meters 0.08008521023069551 Centerline is valid? [True, True] Translation: X:98.40, Y:-21.97, Z:-11.93 [[ 8.35409785e-01 5.45017256e-01 7.10399939e-02 9.83987576e+01] [-5.43494836e-01 8.38413264e-01 -4.09458471e-02 -2.19664965e+01] [-8.18770664e-02 -4.40330845e-03 9.96632709e-01 -1.19264732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13629675700001 meters 0.08044680259586612 Centerline is valid? [True, True] Translation: X:98.43, Y:-21.98, Z:-11.93 [[ 8.34967247e-01 5.45625756e-01 7.15697567e-02 9.84278963e+01] [-5.44081099e-01 8.38016984e-01 -4.12709678e-02 -2.19812966e+01] [-8.24951747e-02 -4.47984550e-03 9.96581395e-01 -1.19302463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16629675700001 meters 0.08100244535893333 Centerline is valid? [True, True] Translation: X:98.46, Y:-22.00, Z:-11.93 [[ 8.34432212e-01 5.46259569e-01 7.29614090e-02 9.84570456e+01] [-5.44654154e-01 8.37603281e-01 -4.21022102e-02 -2.19950191e+01] [-8.41114508e-02 -4.60729410e-03 9.96445702e-01 -1.19341845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.196296757 meters 0.08249156059143786 Centerline is valid? [True, True] Translation: X:98.49, Y:-22.00, Z:-11.94 [[ 8.33759910e-01 5.47207324e-01 7.35428936e-02 9.84870571e+01] [-5.45577769e-01 8.36983790e-01 -4.24621426e-02 -2.20041958e+01] [-8.47898053e-02 -4.72013563e-03 9.96387680e-01 -1.19396768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.226296757 meters 0.0808583097794103 Centerline is valid? [True, True] Translation: X:98.51, Y:-22.02, Z:-11.94 [[ 8.32848666e-01 5.48433676e-01 7.47235028e-02 9.85129791e+01] [-5.46754309e-01 8.36179673e-01 -4.31657370e-02 -2.20235315e+01] [-8.61558180e-02 -4.90487065e-03 9.96269601e-01 -1.19398509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.256296757 meters 0.07982709477211705 Centerline is valid? [True, True] Translation: X:98.54, Y:-22.04, Z:-11.94 [[ 8.32525000e-01 5.49000576e-01 7.41653014e-02 9.85391060e+01] [-5.47346473e-01 8.35807569e-01 -4.28666066e-02 -2.20429104e+01] [-8.55217120e-02 -4.90659445e-03 9.96324225e-01 -1.19421391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.286296757 meters 0.08162445531072163 Centerline is valid? [True, True] Translation: X:98.57, Y:-22.05, Z:-11.95 [[ 8.33025027e-01 5.48353515e-01 7.33329828e-02 9.85681267e+01] [-5.46731793e-01 8.36233054e-01 -4.24102117e-02 -2.20545049e+01] [-8.45792528e-02 -4.76470538e-03 9.96405363e-01 -1.19482077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.316296757 meters 0.08011918847944116 Centerline is valid? [True, True] Translation: X:98.59, Y:-22.07, Z:-11.95 [[ 8.33237046e-01 5.48076166e-01 7.29968583e-02 9.85934356e+01] [-5.46466413e-01 8.36415243e-01 -4.22374300e-02 -2.20739345e+01] [-8.42050137e-02 -4.69653991e-03 9.96437383e-01 -1.19505180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.346296757 meters 0.0798545835838601 Centerline is valid? [True, True] Translation: X:98.62, Y:-22.09, Z:-11.95 [[ 8.33496421e-01 5.47791219e-01 7.21699104e-02 9.86220534e+01] [-5.46214868e-01 8.36602449e-01 -4.17810866e-02 -2.20901847e+01] [-8.32648362e-02 -4.59589199e-03 9.96516856e-01 -1.19544903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.376296757 meters 0.08016348810190044 Centerline is valid? [True, True] Translation: X:98.65, Y:-22.10, Z:-11.96 [[ 8.33324135e-01 5.48006186e-01 7.25265939e-02 9.86504817e+01] [-5.46412572e-01 8.36461543e-01 -4.20165264e-02 -2.21042298e+01] [-8.36910230e-02 -4.61605721e-03 9.96481061e-01 -1.19586530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.406296757 meters 0.07965140196077285 Centerline is valid? [True, True] Translation: X:98.68, Y:-22.12, Z:-11.96 [[ 8.33772259e-01 5.47308470e-01 7.26447461e-02 9.86776583e+01] [-5.45705010e-01 8.36918686e-01 -4.21088494e-02 -2.21216161e+01] [-8.38442754e-02 -4.53341141e-03 9.96468557e-01 -1.19600801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43629675700001 meters 0.08012820380471926 Centerline is valid? [True, True] Translation: X:98.70, Y:-22.14, Z:-11.96 [[ 8.33959529e-01 5.47046559e-01 7.24676890e-02 9.87044670e+01] [-5.45447873e-01 8.37090218e-01 -4.20307629e-02 -2.21366757e+01] [-8.36547778e-02 -4.47539153e-03 9.96484746e-01 -1.19643833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46629675700001 meters 0.07949454742127228 Centerline is valid? [True, True] Translation: X:98.73, Y:-22.15, Z:-11.97 [[ 8.34360107e-01 5.46422410e-01 7.25655663e-02 9.87314634e+01] [-5.44815241e-01 8.37498169e-01 -4.21090262e-02 -2.21530467e+01] [-8.37828445e-02 -4.40073487e-03 9.96474319e-01 -1.19674552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49629675700001 meters 0.07963456224465461 Centerline is valid? [True, True] Translation: X:98.76, Y:-22.17, Z:-11.97 [[ 8.34277218e-01 5.46425038e-01 7.34928621e-02 9.87601372e+01] [-5.44774414e-01 8.37496262e-01 -4.26714103e-02 -2.21666289e+01] [-8.48667243e-02 -4.43724539e-03 9.96382432e-01 -1.19723665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52629675700001 meters 0.07995373779631187 Centerline is valid? [True, True] Translation: X:98.79, Y:-22.18, Z:-11.98 [[ 8.33772750e-01 5.47093415e-01 7.42414818e-02 9.87895744e+01] [-5.45409610e-01 8.37059289e-01 -4.31289150e-02 -2.21808695e+01] [-8.57400674e-02 -4.53230356e-03 9.96307231e-01 -1.19763271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.556296757 meters 0.07953649214167167 Centerline is valid? [True, True] Translation: X:98.82, Y:-22.20, Z:-11.98 [[ 8.33072942e-01 5.48159546e-01 7.42333205e-02 9.88174318e+01] [-5.46477895e-01 8.36361039e-01 -4.31523179e-02 -2.21965634e+01] [-8.57402120e-02 -4.61784029e-03 9.96306826e-01 -1.19788654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.586296757 meters 0.07897112915263675 Centerline is valid? [True, True] Translation: X:98.84, Y:-22.21, Z:-11.98 [[ 8.33122059e-01 5.48171394e-01 7.35918306e-02 9.88445724e+01] [-5.46516857e-01 8.36353591e-01 -4.28018178e-02 -2.22144501e+01] [-8.50115239e-02 -4.56003737e-03 9.96369533e-01 -1.19813869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.616296757 meters 0.07965887610964938 Centerline is valid? [True, True] Translation: X:98.87, Y:-22.23, Z:-11.99 [[ 8.33412539e-01 5.47640188e-01 7.42547188e-02 9.88712458e+01] [-5.45950956e-01 8.36701728e-01 -4.32177160e-02 -2.22297225e+01] [-8.57968097e-02 -4.52124831e-03 9.96302397e-01 -1.19858345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.646296757 meters 0.0793071881006906 Centerline is valid? [True, True] Translation: X:98.90, Y:-22.25, Z:-11.99 [[ 8.33678689e-01 5.47058831e-01 7.55412407e-02 9.88988443e+01] [-5.45305717e-01 8.37081977e-01 -4.39936180e-02 -2.22461144e+01] [-8.73013084e-02 -4.51652869e-03 9.96171713e-01 -1.19892806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.676296757 meters 0.07884813584997823 Centerline is valid? [True, True] Translation: X:98.93, Y:-22.26, Z:-11.99 [[ 8.33314549e-01 5.47495271e-01 7.63923456e-02 9.89269385e+01] [-5.45703456e-01 8.36796094e-01 -4.44975838e-02 -2.22607394e+01] [-8.82870331e-02 -4.60708306e-03 9.96084421e-01 -1.19918748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.706296757 meters 0.07983816281757894 Centerline is valid? [True, True] Translation: X:98.96, Y:-22.27, Z:-12.00 [[ 8.32992602e-01 5.47835227e-01 7.74589497e-02 9.89556273e+01] [-5.45991806e-01 8.36573143e-01 -4.51478047e-02 -2.22726990e+01] [-8.95336348e-02 -4.68416456e-03 9.95972784e-01 -1.19971784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.736296757 meters 0.08213558600597344 Centerline is valid? [True, True] Translation: X:98.99, Y:-22.28, Z:-12.00 [[ 8.32450865e-01 5.48277201e-01 8.01103457e-02 9.89853145e+01] [-5.46305986e-01 8.36282404e-01 -4.67066444e-02 -2.22828458e+01] [-9.26030608e-02 -4.88377480e-03 9.95691128e-01 -1.20018562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.766296757 meters 0.07841195043211084 Centerline is valid? [True, True] Translation: X:99.01, Y:-22.31, Z:-12.00 [[ 8.32650466e-01 5.47946757e-01 8.02966539e-02 9.90079648e+01] [-5.45962302e-01 8.36499233e-01 -4.68422595e-02 -2.23088393e+01] [-9.28351536e-02 -4.83571685e-03 9.95669750e-01 -1.20007324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.79629675700001 meters 0.07850558436548719 Centerline is valid? [True, True] Translation: X:99.04, Y:-22.32, Z:-12.01 [[ 8.32776432e-01 5.47830586e-01 7.97813523e-02 9.90351563e+01] [-5.45870595e-01 8.36575596e-01 -4.65463739e-02 -2.23245214e+01] [-9.22426597e-02 -4.78757112e-03 9.95725048e-01 -1.20051598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.82629675700001 meters 0.07774577736020184 Centerline is valid? [True, True] Translation: X:99.06, Y:-22.34, Z:-12.01 [[ 8.33179454e-01 5.47221396e-01 7.97542546e-02 9.90614414e+01] [-5.45257264e-01 8.36974737e-01 -4.65597058e-02 -2.23419485e+01] [-9.22307635e-02 -4.69399637e-03 9.95726595e-01 -1.20096161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.85629675700001 meters 0.07760048962563364 Centerline is valid? [True, True] Translation: X:99.09, Y:-22.36, Z:-12.01 [[ 8.33867588e-01 5.46040480e-01 8.06513540e-02 9.90881735e+01] [-5.44023691e-01 8.37746211e-01 -4.71116783e-02 -2.23567751e+01] [-9.32902496e-02 -4.59134567e-03 9.95628369e-01 -1.20139514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.88629675700001 meters 0.0773602248986394 Centerline is valid? [True, True] Translation: X:99.12, Y:-22.37, Z:-12.02 [[ 8.34454946e-01 5.45033520e-01 8.13843038e-02 9.91150871e+01] [-5.42972967e-01 8.38402172e-01 -4.75621149e-02 -2.23734425e+01] [-9.41557240e-02 -4.50103483e-03 9.95547307e-01 -1.20170844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.91629675700001 meters 0.0767344181371755 Centerline is valid? [True, True] Translation: X:99.14, Y:-22.39, Z:-12.02 [[ 8.35973347e-01 5.42681388e-01 8.15197746e-02 9.91406107e+01] [-5.40600306e-01 8.39928031e-01 -4.76677254e-02 -2.23916573e+01] [-9.43391311e-02 -4.22066718e-03 9.95531172e-01 -1.20190954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.946296757 meters 0.07623619523552637 Centerline is valid? [True, True] Translation: X:99.17, Y:-22.41, Z:-12.02 [[ 8.36855301e-01 5.41384731e-01 8.10911720e-02 9.91670610e+01] [-5.39317256e-01 8.40765310e-01 -4.74403956e-02 -2.24095468e+01] [-9.38621502e-02 -4.03312183e-03 9.95577034e-01 -1.20225892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.976296757 meters 0.075425769024767 Centerline is valid? [True, True] Translation: X:99.19, Y:-22.43, Z:-12.03 [[ 8.38080709e-01 5.39615668e-01 8.02225391e-02 9.91935547e+01] [-5.37581916e-01 8.41903024e-01 -4.69572417e-02 -2.24279692e+01] [-9.28784616e-02 -3.77222776e-03 9.95670308e-01 -1.20255758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.006296757 meters 0.07465361197699001 Centerline is valid? [True, True] Translation: X:99.22, Y:-22.45, Z:-12.03 [[ 8.38990468e-01 5.38231312e-01 8.00128085e-02 9.92199632e+01] [-5.36199556e-01 8.42789525e-01 -4.68599318e-02 -2.24460815e+01] [-9.26554394e-02 -3.58779628e-03 9.95691768e-01 -1.20283165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.036296757 meters 0.07422362676334406 Centerline is valid? [True, True] Translation: X:99.25, Y:-22.46, Z:-12.03 [[ 8.40257097e-01 5.36115802e-01 8.09188296e-02 9.92461508e+01] [-5.34025324e-01 8.44137722e-01 -4.74179330e-02 -2.24633238e+01] [-9.37281396e-02 -3.36944942e-03 9.95592127e-01 -1.20317872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.066296757 meters 0.07470900851834095 Centerline is valid? [True, True] Translation: X:99.27, Y:-22.48, Z:-12.04 [[ 8.40818263e-01 5.35323814e-01 8.03309565e-02 9.92736390e+01] [-5.33257823e-01 8.44640715e-01 -4.70973057e-02 -2.24772723e+01] [-9.30631058e-02 -3.23683626e-03 9.95654951e-01 -1.20374789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.096296757 meters 0.07346995426470444 Centerline is valid? [True, True] Translation: X:99.30, Y:-22.50, Z:-12.04 [[ 8.42423629e-01 5.32705266e-01 8.09168099e-02 9.92982975e+01] [-5.30594611e-01 8.46295698e-01 -4.74652501e-02 -2.24980955e+01] [-9.37645368e-02 -2.94817515e-03 9.95590036e-01 -1.20386256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.126296757 meters 0.0733158737311263 Centerline is valid? [True, True] Translation: X:99.32, Y:-22.52, Z:-12.04 [[ 8.42696460e-01 5.32213367e-01 8.13117939e-02 9.93249974e+01] [-5.30077515e-01 8.46605335e-01 -4.77203827e-02 -2.25157915e+01] [-9.42364241e-02 -2.88775610e-03 9.95545658e-01 -1.20425958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.156296757 meters 0.07341428671838263 Centerline is valid? [True, True] Translation: X:99.35, Y:-22.53, Z:-12.05 [[ 8.43184964e-01 5.31604403e-01 8.02239082e-02 9.93528240e+01] [-5.29520346e-01 8.46988276e-01 -4.71069414e-02 -2.25305967e+01] [-9.29909671e-02 -2.76032698e-03 9.95663126e-01 -1.20481276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.18629675700001 meters 0.0732519777480905 Centerline is valid? [True, True] Translation: X:99.38, Y:-22.55, Z:-12.05 [[ 8.43171865e-01 5.31714677e-01 7.96285605e-02 9.93800788e+01] [-5.29659470e-01 8.46919156e-01 -4.67845004e-02 -2.25473588e+01] [-9.23149587e-02 -2.72864670e-03 9.95726118e-01 -1.20507208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.21629675700001 meters 0.07344641442664715 Centerline is valid? [True, True] Translation: X:99.41, Y:-22.56, Z:-12.06 [[ 8.42983638e-01 5.31952182e-01 8.00341354e-02 9.94081529e+01] [-5.29874590e-01 8.46769940e-01 -4.70487734e-02 -2.25627559e+01] [-9.27981977e-02 -2.74670857e-03 9.95681149e-01 -1.20552273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.24629675700001 meters 0.07330701865545411 Centerline is valid? [True, True] Translation: X:99.43, Y:-22.58, Z:-12.06 [[ 8.42797824e-01 5.32177009e-01 8.04950814e-02 9.94346682e+01] [-5.30073985e-01 8.46628597e-01 -4.73454146e-02 -2.25801947e+01] [-9.33455790e-02 -2.76573615e-03 9.95629928e-01 -1.20591159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.27629675700001 meters 0.0733080162634767 Centerline is valid? [True, True] Translation: X:99.46, Y:-22.60, Z:-12.06 [[ 8.42501014e-01 5.32629963e-01 8.06062332e-02 9.94613112e+01] [-5.30520449e-01 8.46343612e-01 -4.74398902e-02 -2.25957327e+01] [-9.34884775e-02 -2.79509945e-03 9.95616438e-01 -1.20629740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.306296757 meters 0.07343395010733783 Centerline is valid? [True, True] Translation: X:99.49, Y:-22.61, Z:-12.07 [[ 8.42074649e-01 5.33122293e-01 8.17979649e-02 9.94890759e+01] [-5.30950562e-01 8.46033295e-01 -4.81577040e-02 -2.26126101e+01] [-9.48777474e-02 -2.87829378e-03 9.95484771e-01 -1.20662099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.336296757 meters 0.073488686097651 Centerline is valid? [True, True] Translation: X:99.52, Y:-22.63, Z:-12.07 [[ 8.41463615e-01 5.33968498e-01 8.25628718e-02 9.95174987e+01] [-5.31759420e-01 8.45499059e-01 -4.86133648e-02 -2.26283182e+01] [-9.57648358e-02 -2.99720716e-03 9.95399474e-01 -1.20704754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.366296757 meters 0.07360058755779182 Centerline is valid? [True, True] Translation: X:99.54, Y:-22.64, Z:-12.07 [[ 8.40018165e-01 5.36068239e-01 8.36679471e-02 9.95448462e+01] [-5.33806771e-01 8.44168384e-01 -4.92957497e-02 -2.26440194e+01] [-9.70557214e-02 -3.25319152e-03 9.95273633e-01 -1.20742016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.396296757 meters 0.07425999068127581 Centerline is valid? [True, True] Translation: X:99.57, Y:-22.66, Z:-12.08 [[ 8.39732550e-01 5.36771818e-01 8.20076836e-02 9.95722038e+01] [-5.34600091e-01 8.43721216e-01 -4.83451463e-02 -2.26566002e+01] [-9.51419346e-02 -3.24432213e-03 9.95458430e-01 -1.20809755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.426296757 meters 0.07412729617290259 Centerline is valid? [True, True] Translation: X:99.60, Y:-22.68, Z:-12.08 [[ 8.39540432e-01 5.36997411e-01 8.24963250e-02 9.95985809e+01] [-5.34798810e-01 8.43577544e-01 -4.86534792e-02 -2.26751322e+01] [-9.57188396e-02 -3.27237346e-03 9.95403032e-01 -1.20848514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.456296757 meters 0.0740311869689522 Centerline is valid? [True, True] Translation: X:99.63, Y:-22.69, Z:-12.09 [[ 8.39481529e-01 5.36872446e-01 8.38972011e-02 9.96252569e+01] [-5.34595046e-01 8.43657010e-01 -4.95074366e-02 -2.26928789e+01] [-9.73596404e-02 -3.29044954e-03 9.95243826e-01 -1.20875904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.486296757 meters 0.07398762591599413 Centerline is valid? [True, True] Translation: X:99.65, Y:-22.71, Z:-12.09 [[ 8.39518561e-01 5.36652174e-01 8.49295627e-02 9.96508197e+01] [-5.34314368e-01 8.43797176e-01 -5.01446091e-02 -2.27122845e+01] [-9.85735386e-02 -3.28175548e-03 9.95124358e-01 -1.20891111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.516296757 meters 0.07397703614289751 Centerline is valid? [True, True] Translation: X:99.68, Y:-22.73, Z:-12.09 [[ 8.39516188e-01 5.36519205e-01 8.57887638e-02 9.96775191e+01] [-5.34130193e-01 8.43881754e-01 -5.06805865e-02 -2.27277767e+01] [-9.95866805e-02 -3.27519614e-03 9.95023500e-01 -1.20929621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.54629675700001 meters 0.07378692639159143 Centerline is valid? [True, True] Translation: X:99.70, Y:-22.74, Z:-12.10 [[ 8.39682682e-01 5.36080572e-01 8.68942737e-02 9.97046782e+01] [-5.33624463e-01 8.44160591e-01 -5.13597969e-02 -2.27446622e+01] [-1.00885711e-01 -3.24297814e-03 9.94892736e-01 -1.20971137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.57629675700001 meters 0.07395264485198408 Centerline is valid? [True, True] Translation: X:99.73, Y:-22.76, Z:-12.10 [[ 8.39935392e-01 5.35661725e-01 8.70347911e-02 9.97316188e+01] [-5.33192520e-01 8.44426696e-01 -5.14712830e-02 -2.27610829e+01] [-1.01065697e-01 -3.17374735e-03 9.94874692e-01 -1.21021835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.60629675700001 meters 0.07377099632185503 Centerline is valid? [True, True] Translation: X:99.76, Y:-22.78, Z:-12.10 [[ 8.39983521e-01 5.35775689e-01 8.58609057e-02 9.97570439e+01] [-5.33370638e-01 8.44354589e-01 -5.08044375e-02 -2.27815463e+01] [-9.97168323e-02 -3.12079574e-03 9.95010962e-01 -1.21047326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63629675700001 meters 0.07404945370531055 Centerline is valid? [True, True] Translation: X:99.78, Y:-22.80, Z:-12.11 [[ 8.39745128e-01 5.36132869e-01 8.59631699e-02 9.97838343e+01] [-5.33721117e-01 8.44127755e-01 -5.08930438e-02 -2.27977613e+01] [-9.98493312e-02 -3.14317344e-03 9.94997604e-01 -1.21085017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.66629675700001 meters 0.07421049961626325 Centerline is valid? [True, True] Translation: X:99.81, Y:-22.81, Z:-12.11 [[ 8.39390967e-01 5.36601634e-01 8.64956150e-02 9.98114796e+01] [-5.34159220e-01 8.43829658e-01 -5.12390043e-02 -2.28136040e+01] [-1.00482499e-01 -3.19287287e-03 9.94933703e-01 -1.21134265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.696296757 meters 0.07434207993180117 Centerline is valid? [True, True] Translation: X:99.84, Y:-22.83, Z:-12.12 [[ 8.39089625e-01 5.37105399e-01 8.62924741e-02 9.98393125e+01] [-5.34674108e-01 8.43508993e-01 -5.11485729e-02 -2.28296448e+01] [-1.00260653e-01 -3.22011480e-03 9.94955995e-01 -1.21174914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.726296757 meters 0.07434207993180117 Centerline is valid? [True, True] Translation: X:99.87, Y:-22.85, Z:-12.12 [[ 8.38944333e-01 5.37334223e-01 8.62805861e-02 9.98669498e+01] [-5.34902079e-01 8.43363230e-01 -5.11686178e-02 -2.28461394e+01] [-1.00260523e-01 -3.22404301e-03 9.94955996e-01 -1.21212527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.756296757 meters 0.07439051226940396 Centerline is valid? [True, True] Translation: X:99.89, Y:-22.86, Z:-12.13 [[ 8.38926290e-01 5.37179851e-01 8.74098794e-02 9.98946164e+01] [-5.34679256e-01 8.43461582e-01 -5.18715063e-02 -2.28625293e+01] [-1.01591203e-01 -3.21987891e-03 9.94821019e-01 -1.21255229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.786296757 meters 0.07408963136628144 Centerline is valid? [True, True] Translation: X:99.92, Y:-22.88, Z:-12.13 [[ 8.38649537e-01 5.37605464e-01 8.74489566e-02 9.99216314e+01] [-5.35102133e-01 8.43190254e-01 -5.19220865e-02 -2.28813829e+01] [-1.01649705e-01 -3.24968934e-03 9.94814946e-01 -1.21291034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.816296757 meters 0.07419246342177692 Centerline is valid? [True, True] Translation: X:99.95, Y:-22.90, Z:-12.13 [[ 8.38822625e-01 5.37518969e-01 8.63131656e-02 9.99482967e+01] [-5.35076694e-01 8.43245701e-01 -5.12798125e-02 -2.29003953e+01] [-1.00347078e-01 -3.16949640e-03 9.94947445e-01 -1.21327612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.846296757 meters 0.07431579785107939 Centerline is valid? [True, True] Translation: X:99.97, Y:-22.92, Z:-12.14 [[ 8.39247247e-01 5.36975487e-01 8.55650908e-02 9.99741988e+01] [-5.34569208e-01 8.43592339e-01 -5.08697068e-02 -2.29175366e+01] [-9.94978407e-02 -3.04820146e-03 9.95033109e-01 -1.21380805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.876296757 meters 0.07387011526563257 Centerline is valid? [True, True] Translation: X:100.00, Y:-22.94, Z:-12.14 [[ 8.39138627e-01 5.37212791e-01 8.51397798e-02 1.00001210e+02] [-5.34830365e-01 8.43441234e-01 -5.06296918e-02 -2.29358747e+01] [-9.90093189e-02 -3.05000947e-03 9.95081832e-01 -1.21419167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.906296757 meters 0.07392059696665217 Centerline is valid? [True, True] Translation: X:100.03, Y:-22.95, Z:-12.15 [[ 8.38845731e-01 5.37670056e-01 8.51395988e-02 1.00029373e+02] [-5.35286762e-01 8.43149718e-01 -5.06619805e-02 -2.29522361e+01] [-9.90248586e-02 -3.07651408e-03 9.95080204e-01 -1.21468847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.93629675700001 meters 0.07407861109970251 Centerline is valid? [True, True] Translation: X:100.06, Y:-22.97, Z:-12.15 [[ 8.38057418e-01 5.39101719e-01 8.38397352e-02 1.00056812e+02] [-5.36794747e-01 8.42234706e-01 -4.99209377e-02 -2.29671359e+01] [-9.75251981e-02 -3.16811734e-03 9.95228013e-01 -1.21527185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.96629675700001 meters 0.07444495845835777 Centerline is valid? [True, True] Translation: X:100.08, Y:-22.98, Z:-12.16 [[ 8.37518085e-01 5.40079311e-01 8.29324674e-02 1.00083621e+02] [-5.37824361e-01 8.41607950e-01 -4.94066283e-02 -2.29814298e+01] [-9.64801217e-02 -3.22415652e-03 9.95329690e-01 -1.21573024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.99629675700001 meters 0.07479926645543823 Centerline is valid? [True, True] Translation: X:100.11, Y:-23.00, Z:-12.16 [[ 8.36070464e-01 5.42476618e-01 8.18858840e-02 1.00109214e+02] [-5.40287800e-01 8.40063864e-01 -4.88036708e-02 -2.29974787e+01] [-9.52642224e-02 -3.43863639e-03 9.95446083e-01 -1.21614184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.02629675700001 meters 0.07483678635409162 Centerline is valid? [True, True] Translation: X:100.14, Y:-23.01, Z:-12.16 [[ 8.35513782e-01 5.43404246e-01 8.14158802e-02 1.00136056e+02] [-5.41242872e-01 8.39463838e-01 -4.85450071e-02 -2.30146198e+01] [-9.47252503e-02 -3.50574233e-03 9.95497281e-01 -1.21640559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.056296757 meters 0.07549396736394073 Centerline is valid? [True, True] Translation: X:100.16, Y:-23.03, Z:-12.17 [[ 8.34148024e-01 5.45672774e-01 8.02390035e-02 1.00163511e+02] [-5.43581293e-01 8.37990245e-01 -4.78719793e-02 -2.30274333e+01] [-9.33619379e-02 -3.68410437e-03 9.95625419e-01 -1.21682592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.086296757 meters 0.07622497708933058 Centerline is valid? [True, True] Translation: X:100.19, Y:-23.04, Z:-12.17 [[ 8.33290873e-01 5.47128403e-01 7.92264624e-02 1.00190727e+02] [-5.45095091e-01 8.37040112e-01 -4.72778364e-02 -2.30412409e+01] [-9.21827741e-02 -3.78976619e-03 9.95734891e-01 -1.21735850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.116296757 meters 0.07681011557076532 Centerline is valid? [True, True] Translation: X:100.22, Y:-23.06, Z:-12.18 [[ 8.32160501e-01 5.48941956e-01 7.85597229e-02 1.00218840e+02] [-5.46948725e-01 8.35851198e-01 -4.69027417e-02 -2.30565251e+01] [-9.14111213e-02 -3.93753128e-03 9.95805454e-01 -1.21780491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.146296757 meters 0.07623852730864557 Centerline is valid? [True, True] Translation: X:100.25, Y:-23.08, Z:-12.18 [[ 8.31737437e-01 5.49465661e-01 7.93745787e-02 1.00245950e+02] [-5.47430876e-01 8.35506647e-01 -4.74139091e-02 -2.30759149e+01] [-9.23703031e-02 -4.01617190e-03 9.95716625e-01 -1.21805726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.176296757 meters 0.07615834588089403 Centerline is valid? [True, True] Translation: X:100.27, Y:-23.10, Z:-12.18 [[ 8.30900205e-01 5.50476421e-01 8.11206406e-02 1.00273169e+02] [-5.48352783e-01 8.34840177e-01 -4.84881861e-02 -2.30953616e+01] [-9.44143731e-02 -4.19388529e-03 9.95524152e-01 -1.21818511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.206296757 meters 0.07584973247932547 Centerline is valid? [True, True] Translation: X:100.30, Y:-23.11, Z:-12.18 [[ 8.30610465e-01 5.51032751e-01 8.03066812e-02 1.00299421e+02] [-5.48951300e-01 8.34473106e-01 -4.80323327e-02 -2.31129609e+01] [-9.34811542e-02 -4.18829885e-03 9.95612240e-01 -1.21838574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.236296757 meters 0.07614064675264877 Centerline is valid? [True, True] Translation: X:100.33, Y:-23.13, Z:-12.19 [[ 8.30333805e-01 5.51585472e-01 7.93677459e-02 1.00325814e+02] [-5.49552292e-01 8.34107924e-01 -4.74999892e-02 -2.31283572e+01] [-9.24015698e-02 -4.17587987e-03 9.95713067e-01 -1.21877118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.266296757 meters 0.07686851356019386 Centerline is valid? [True, True] Translation: X:100.35, Y:-23.14, Z:-12.19 [[ 8.30163333e-01 5.51857363e-01 7.92609049e-02 1.00354138e+02] [-5.49829925e-01 8.33927983e-01 -4.74465286e-02 -2.31430973e+01] [-9.22816027e-02 -4.19164904e-03 9.95724126e-01 -1.21927715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.29629675700001 meters 0.07630534595635137 Centerline is valid? [True, True] Translation: X:100.38, Y:-23.16, Z:-12.19 [[ 8.29269424e-01 5.53166636e-01 7.94914747e-02 1.00380377e+02] [-5.51130719e-01 8.33059395e-01 -4.76127659e-02 -2.31615152e+01] [-9.25589134e-02 -4.32638262e-03 9.95697811e-01 -1.21946992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.32629675700001 meters 0.0759223811536282 Centerline is valid? [True, True] Translation: X:100.41, Y:-23.18, Z:-12.20 [[ 8.29004710e-01 5.53545519e-01 7.96150041e-02 1.00407881e+02] [-5.51502615e-01 8.32807541e-01 -4.77123193e-02 -2.31797726e+01] [-9.27149163e-02 -4.35414552e-03 9.95683175e-01 -1.21977046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.35629675700001 meters 0.07860658839708852 Centerline is valid? [True, True] Translation: X:100.44, Y:-23.19, Z:-12.20 [[ 8.28994467e-01 5.53416186e-01 8.06145088e-02 1.00437620e+02] [-5.51317640e-01 8.32893433e-01 -4.83465569e-02 -2.31885907e+01] [-9.38990621e-02 -4.36517257e-03 9.95572153e-01 -1.22049037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.38629675700001 meters 0.07563140625619916 Centerline is valid? [True, True] Translation: X:100.46, Y:-23.21, Z:-12.20 [[ 8.28938741e-01 5.53227118e-01 8.24640569e-02 1.00460112e+02] [-5.51028712e-01 8.33018672e-01 -4.94696955e-02 -2.32131387e+01] [-9.60620762e-02 -4.43271599e-03 9.95365475e-01 -1.22046121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.41629675700001 meters 0.07515596834876079 Centerline is valid? [True, True] Translation: X:100.49, Y:-23.23, Z:-12.21 [[ 8.29900803e-01 5.51823873e-01 8.21892395e-02 1.00486808e+02] [-5.49630615e-01 8.33949937e-01 -4.93324416e-02 -2.32302022e+01] [-9.57645301e-02 -4.23268932e-03 9.95395017e-01 -1.22082328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.446296757 meters 0.07548621487313091 Centerline is valid? [True, True] Translation: X:100.51, Y:-23.24, Z:-12.21 [[ 8.30002224e-01 5.51704529e-01 8.19659810e-02 1.00513803e+02] [-5.49519717e-01 8.34029150e-01 -4.92286265e-02 -2.32449114e+01] [-9.55216737e-02 -4.18205317e-03 9.95418565e-01 -1.22125133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.476296757 meters 0.07616719974966928 Centerline is valid? [True, True] Translation: X:100.54, Y:-23.26, Z:-12.22 [[ 8.29885143e-01 5.51940345e-01 8.15628887e-02 1.00541948e+02] [-5.49776955e-01 8.33873132e-01 -4.89989669e-02 -2.32597356e+01] [-9.50576082e-02 -4.17788196e-03 9.95463006e-01 -1.22171554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.506296757 meters 0.07593010133679798 Centerline is valid? [True, True] Translation: X:100.57, Y:-23.28, Z:-12.22 [[ 8.29639637e-01 5.52323911e-01 8.14639210e-02 1.00570211e+02] [-5.50164900e-01 8.33619048e-01 -4.89680001e-02 -2.32771439e+01] [-9.49560737e-02 -4.19279609e-03 9.95472634e-01 -1.22204811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.536296757 meters 0.07666346011180747 Centerline is valid? [True, True] Translation: X:100.60, Y:-23.29, Z:-12.23 [[ 8.28983948e-01 5.53137772e-01 8.26088355e-02 1.00599288e+02] [-5.50918400e-01 8.33078596e-01 -4.96887288e-02 -2.32894826e+01] [-9.63043654e-02 -4.31956892e-03 9.95342559e-01 -1.22251481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.566296757 meters 0.07632580017757543 Centerline is valid? [True, True] Translation: X:100.63, Y:-23.31, Z:-12.23 [[ 8.28496595e-01 5.53944877e-01 8.20881522e-02 1.00625774e+02] [-5.51754539e-01 8.32541926e-01 -4.94051602e-02 -2.33064178e+01] [-9.57095638e-02 -4.36050357e-03 9.95399752e-01 -1.22290326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.596296757 meters 0.07633399053552244 Centerline is valid? [True, True] Translation: X:100.65, Y:-23.32, Z:-12.23 [[ 8.28415577e-01 5.54019195e-01 8.24036608e-02 1.00654021e+02] [-5.51809924e-01 8.32492448e-01 -4.96198700e-02 -2.33212970e+01] [-9.60907857e-02 -4.36528454e-03 9.95363002e-01 -1.22341726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.626296757 meters 0.07656352576803038 Centerline is valid? [True, True] Translation: X:100.68, Y:-23.34, Z:-12.24 [[ 8.28174557e-01 5.54454323e-01 8.18981469e-02 1.00680834e+02] [-5.52271436e-01 8.32202715e-01 -4.93447244e-02 -2.33362699e+01] [-9.55152560e-02 -4.36396191e-03 9.95418400e-01 -1.22381029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.656296757 meters 0.07674142555401868 Centerline is valid? [True, True] Translation: X:100.71, Y:-23.35, Z:-12.24 [[ 8.28239953e-01 5.54473698e-01 8.11017814e-02 1.00708718e+02] [-5.52332208e-01 8.32190065e-01 -4.88756265e-02 -2.33532052e+01] [-9.45923461e-02 -4.31437942e-03 9.95506742e-01 -1.22424620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.68629675700001 meters 0.0766481926959757 Centerline is valid? [True, True] Translation: X:100.74, Y:-23.37, Z:-12.25 [[ 8.28576764e-01 5.53982024e-01 8.10213783e-02 1.00736116e+02] [-5.51839164e-01 8.32517907e-01 -4.88617572e-02 -2.33705505e+01] [-9.45202835e-02 -4.22505300e-03 9.95513970e-01 -1.22459610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.71629675700001 meters 0.07637795937546482 Centerline is valid? [True, True] Translation: X:100.76, Y:-23.39, Z:-12.25 [[ 8.28846413e-01 5.53693830e-01 8.02294585e-02 1.00763558e+02] [-5.51590977e-01 8.32710000e-01 -4.83885355e-02 -2.33886505e+01] [-9.36003059e-02 -4.14718128e-03 9.95601217e-01 -1.22496235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.74629675700001 meters 0.07599354744618542 Centerline is valid? [True, True] Translation: X:100.79, Y:-23.41, Z:-12.25 [[ 8.30496133e-01 5.51346795e-01 7.93277041e-02 1.00788438e+02] [-5.49277251e-01 8.34267459e-01 -4.78780623e-02 -2.34056132e+01] [-9.25779383e-02 -3.81035765e-03 9.95698150e-01 -1.22546340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.77629675700001 meters 0.07458836441060464 Centerline is valid? [True, True] Translation: X:100.81, Y:-23.43, Z:-12.26 [[ 8.31845600e-01 5.49244122e-01 7.97733797e-02 1.00813192e+02] [-5.47140611e-01 8.35654248e-01 -4.81573474e-02 -2.34266614e+01] [-9.31131036e-02 -3.58777812e-03 9.95649074e-01 -1.22568981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.806296757 meters 0.07485766615989993 Centerline is valid? [True, True] Translation: X:100.84, Y:-23.44, Z:-12.26 [[ 8.32425222e-01 5.48228104e-01 8.07105655e-02 1.00839884e+02] [-5.46067449e-01 8.36321558e-01 -4.87503042e-02 -2.34413436e+01] [-9.42262728e-02 -3.49242977e-03 9.95544681e-01 -1.22618296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.836296757 meters 0.07448837872216182 Centerline is valid? [True, True] Translation: X:100.87, Y:-23.46, Z:-12.26 [[ 8.33696413e-01 5.46133715e-01 8.17817582e-02 1.00865830e+02] [-5.43902336e-01 8.37691616e-01 -4.94267657e-02 -2.34606988e+01] [-9.55015164e-02 -3.27437196e-03 9.95423899e-01 -1.22649519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.866296757 meters 0.07357347780582531 Centerline is valid? [True, True] Translation: X:100.89, Y:-23.48, Z:-12.27 [[ 8.34333985e-01 5.45011032e-01 8.27633791e-02 1.00891496e+02] [-5.42719531e-01 8.38422847e-01 -5.00263886e-02 -2.34811869e+01] [-9.66556417e-02 -3.17858611e-03 9.95312807e-01 -1.22670323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.896296757 meters 0.07321887091401255 Centerline is valid? [True, True] Translation: X:100.92, Y:-23.50, Z:-12.27 [[ 8.34524251e-01 5.44666209e-01 8.31143545e-02 1.00918113e+02] [-5.42352230e-01 8.38647037e-01 -5.02514216e-02 -2.34987556e+01] [-9.70738585e-02 -3.14122560e-03 9.95272223e-01 -1.22687433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.926296757 meters 0.07334511562212247 Centerline is valid? [True, True] Translation: X:100.95, Y:-23.51, Z:-12.27 [[ 8.34157134e-01 5.45099500e-01 8.39548149e-02 1.00945846e+02] [-5.42737752e-01 8.38365251e-01 -5.07881750e-02 -2.35145146e+01] [-9.80694083e-02 -3.20012896e-03 9.95174432e-01 -1.22729101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.956296757 meters 0.07437498313512986 Centerline is valid? [True, True] Translation: X:100.98, Y:-23.53, Z:-12.28 [[ 8.33339785e-01 5.46132227e-01 8.53486581e-02 1.00976309e+02] [-5.43693582e-01 8.37692280e-01 -5.16617111e-02 -2.35256016e+01] [-9.97100374e-02 -3.35175837e-03 9.95010891e-01 -1.22787836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.986296757 meters 0.07477036443811477 Centerline is valid? [True, True] Translation: X:101.00, Y:-23.54, Z:-12.28 [[ 8.32617699e-01 5.47343694e-01 8.46324294e-02 1.01003868e+02] [-5.44950219e-01 8.36900813e-01 -5.12473195e-02 -2.35397800e+01] [-9.88788461e-02 -3.45103574e-03 9.95093495e-01 -1.22829749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.016296757 meters 0.0742161247048741 Centerline is valid? [True, True] Translation: X:101.03, Y:-23.56, Z:-12.29 [[ 8.31706240e-01 5.48782823e-01 8.42742173e-02 1.01030106e+02] [-5.46414608e-01 8.35957265e-01 -5.10541508e-02 -2.35574847e+01] [-9.84672852e-02 -3.58660768e-03 9.95133825e-01 -1.22854852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.04629675700001 meters 0.07409710072600616 Centerline is valid? [True, True] Translation: X:101.06, Y:-23.57, Z:-12.29 [[ 8.30884033e-01 5.50141637e-01 8.35218710e-02 1.01057315e+02] [-5.47819775e-01 8.35063205e-01 -5.06254768e-02 -2.35747107e+01] [-9.75972239e-02 -3.69103224e-03 9.95219151e-01 -1.22884977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.07629675700001 meters 0.07580246130413545 Centerline is valid? [True, True] Translation: X:101.09, Y:-23.58, Z:-12.30 [[ 8.30223768e-01 5.51257904e-01 8.27237474e-02 1.01087024e+02] [-5.48983129e-01 8.34326416e-01 -5.01692643e-02 -2.35849624e+01] [-9.66748112e-02 -3.76222610e-03 9.95308910e-01 -1.22964278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.10629675700001 meters 0.07483493763480899 Centerline is valid? [True, True] Translation: X:101.11, Y:-23.60, Z:-12.30 [[ 8.30083241e-01 5.51694312e-01 8.12108296e-02 1.01112479e+02] [-5.49501694e-01 8.34038095e-01 -4.92782365e-02 -2.36041617e+01] [-9.49194484e-02 -3.72045014e-03 9.95478004e-01 -1.22991873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.13629675700001 meters 0.07536368547720618 Centerline is valid? [True, True] Translation: X:101.14, Y:-23.62, Z:-12.30 [[ 8.29173972e-01 5.53233831e-01 8.00178183e-02 1.01140799e+02] [-5.51109657e-01 8.33017274e-01 -4.85836100e-02 -2.36168802e+01] [-9.35343216e-02 -3.81432756e-03 9.95608749e-01 -1.23049921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.16629675700001 meters 0.0755636382408809 Centerline is valid? [True, True] Translation: X:101.17, Y:-23.63, Z:-12.31 [[ 8.28526606e-01 5.54425700e-01 7.84589427e-02 1.01168621e+02] [-5.52388058e-01 8.32224260e-01 -4.76467692e-02 -2.36324068e+01] [-9.17120289e-02 -3.86316700e-03 9.95778078e-01 -1.23090132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.196296757 meters 0.07528785406069115 Centerline is valid? [True, True] Translation: X:101.20, Y:-23.65, Z:-12.31 [[ 8.28134603e-01 5.54994641e-01 7.85749890e-02 1.01195698e+02] [-5.52951143e-01 8.31844731e-01 -4.77428235e-02 -2.36495730e+01] [-9.18592017e-02 -3.91064582e-03 9.95764326e-01 -1.23117768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.226296757 meters 0.0755461400194 Centerline is valid? [True, True] Translation: X:101.22, Y:-23.67, Z:-12.32 [[ 8.28145356e-01 5.55069041e-01 7.79334905e-02 1.01224106e+02] [-5.53056892e-01 8.31795296e-01 -4.73778477e-02 -2.36651575e+01] [-9.11226873e-02 -3.86590952e-03 9.95832170e-01 -1.23163640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.256296757 meters 0.07588721617344132 Centerline is valid? [True, True] Translation: X:101.25, Y:-23.68, Z:-12.32 [[ 8.27259620e-01 5.56477465e-01 7.72939354e-02 1.01252648e+02] [-5.54501344e-01 8.30853267e-01 -4.70224247e-02 -2.36787941e+01] [-9.03868384e-02 -3.95983797e-03 9.95898860e-01 -1.23200372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.286296757 meters 0.07650334791077917 Centerline is valid? [True, True] Translation: X:101.28, Y:-23.69, Z:-12.32 [[ 8.26237885e-01 5.58044758e-01 7.69220769e-02 1.01281473e+02] [-5.56093501e-01 8.29800707e-01 -4.68060279e-02 -2.36927162e+01] [-8.99498523e-02 -4.10295362e-03 9.95937844e-01 -1.23242643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.316296757 meters 0.07654082840934395 Centerline is valid? [True, True] Translation: X:101.31, Y:-23.71, Z:-12.33 [[ 8.24871500e-01 5.60051339e-01 7.70032919e-02 1.01310124e+02] [-5.58102284e-01 8.28446721e-01 -4.68814631e-02 -2.37065512e+01] [-9.00491508e-02 -4.30453034e-03 9.95928020e-01 -1.23271993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.346296757 meters 0.0772495552244576 Centerline is valid? [True, True] Translation: X:101.34, Y:-23.72, Z:-12.33 [[ 8.24277596e-01 5.60726026e-01 7.84395860e-02 1.01338253e+02] [-5.58704190e-01 8.27989500e-01 -4.77809137e-02 -2.37197357e+01] [-9.17391554e-02 -4.43978870e-03 9.95773175e-01 -1.23311952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.376296757 meters 0.07614241506635541 Centerline is valid? [True, True] Translation: X:101.37, Y:-23.74, Z:-12.33 [[ 8.23156341e-01 5.62204812e-01 7.96202637e-02 1.01365126e+02] [-5.60126150e-01 8.26984937e-01 -4.85243169e-02 -2.37377591e+01] [-9.31253633e-02 -4.65429261e-03 9.95643513e-01 -1.23318048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.406296757 meters 0.07568357127286188 Centerline is valid? [True, True] Translation: X:101.39, Y:-23.76, Z:-12.33 [[ 8.22796718e-01 5.62641742e-01 8.02485600e-02 1.01392742e+02] [-5.60529645e-01 8.26687365e-01 -4.89337986e-02 -2.37551770e+01] [-9.38726683e-02 -4.71912800e-03 9.95573027e-01 -1.23343502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.43629675700001 meters 0.07532282606550685 Centerline is valid? [True, True] Translation: X:101.42, Y:-23.77, Z:-12.34 [[ 8.21879686e-01 5.63839907e-01 8.12301763e-02 1.01421430e+02] [-5.61678344e-01 8.25869643e-01 -4.95658298e-02 -2.37701807e+01] [-9.50327295e-02 -4.88808234e-03 9.95462147e-01 -1.23364614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.46629675700001 meters 0.07658717955467775 Centerline is valid? [True, True] Translation: X:101.45, Y:-23.78, Z:-12.34 [[ 8.21288371e-01 5.64692280e-01 8.12898533e-02 1.01450295e+02] [-5.62528822e-01 8.25286600e-01 -4.96321629e-02 -2.37808770e+01] [-9.51143258e-02 -4.96556721e-03 9.95453971e-01 -1.23414145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.49629675700001 meters 0.07607232919784115 Centerline is valid? [True, True] Translation: X:101.48, Y:-23.80, Z:-12.34 [[ 8.21183493e-01 5.64877961e-01 8.10589927e-02 1.01477800e+02] [-5.62725780e-01 8.25159576e-01 -4.95113189e-02 -2.37976599e+01] [-9.48544569e-02 -4.95610703e-03 9.95478814e-01 -1.23447575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.52629675700001 meters 0.07706155065825017 Centerline is valid? [True, True] Translation: X:101.51, Y:-23.81, Z:-12.35 [[ 8.20529644e-01 5.65731439e-01 8.17254124e-02 1.01507833e+02] [-5.63544607e-01 8.24573980e-01 -4.99522535e-02 -2.38082895e+01] [-9.56482088e-02 -5.06861066e-03 9.95402295e-01 -1.23490255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.556296757 meters 0.07718085490789463 Centerline is valid? [True, True] Translation: X:101.54, Y:-23.82, Z:-12.35 [[ 8.20783251e-01 5.65460385e-01 8.10518789e-02 1.01535314e+02] [-5.63305772e-01 8.24760457e-01 -4.95660707e-02 -2.38226667e+01] [-9.48760342e-02 -4.97399061e-03 9.95476669e-01 -1.23522077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.586296757 meters 0.07634592219772714 Centerline is valid? [True, True] Translation: X:101.56, Y:-23.84, Z:-12.35 [[ 8.20929231e-01 5.65462661e-01 7.95435543e-02 1.01561394e+02] [-5.63385406e-01 8.24759571e-01 -4.86675878e-02 -2.38404991e+01] [-9.31240114e-02 -4.86103229e-03 9.95642651e-01 -1.23547676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.616296757 meters 0.07634592219772714 Centerline is valid? [True, True] Translation: X:101.59, Y:-23.86, Z:-12.36 [[ 8.20770850e-01 5.65694153e-01 7.95319848e-02 1.01588824e+02] [-5.63616155e-01 8.24600786e-01 -4.86864861e-02 -2.38574017e+01] [-9.31237977e-02 -4.86506283e-03 9.95642651e-01 -1.23585325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.646296757 meters 0.0760091821260451 Centerline is valid? [True, True] Translation: X:101.62, Y:-23.87, Z:-12.36 [[ 8.21208456e-01 5.65161436e-01 7.87986226e-02 1.01616358e+02] [-5.63115931e-01 8.24966771e-01 -4.82729314e-02 -2.38745606e+01] [-9.22882445e-02 -4.73062020e-03 9.95721096e-01 -1.23618854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.676296757 meters 0.0752923748772581 Centerline is valid? [True, True] Translation: X:101.64, Y:-23.89, Z:-12.37 [[ 8.21955823e-01 5.64244742e-01 7.75660789e-02 1.01643769e+02] [-5.62258352e-01 8.25595035e-01 -4.75224621e-02 -2.38901961e+01] [-9.08524689e-02 -4.55081120e-03 9.95853965e-01 -1.23662198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.706296757 meters 0.07504721119647115 Centerline is valid? [True, True] Translation: X:101.67, Y:-23.90, Z:-12.37 [[ 8.22692605e-01 5.63050261e-01 7.84300985e-02 1.01670581e+02] [-5.61011298e-01 8.26410699e-01 -4.80799360e-02 -2.39048710e+01] [-9.18868931e-02 -4.44516350e-03 9.95759529e-01 -1.23696356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.736296757 meters 0.07431631722196554 Centerline is valid? [True, True] Translation: X:101.70, Y:-23.92, Z:-12.37 [[ 8.23528086e-01 5.61809846e-01 7.85569184e-02 1.01697184e+02] [-5.59756664e-01 8.27255247e-01 -4.81791831e-02 -2.39226547e+01] [-9.20541624e-02 -4.29584814e-03 9.95744735e-01 -1.23725188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.766296757 meters 0.07459280177309853 Centerline is valid? [True, True] Translation: X:101.72, Y:-23.94, Z:-12.38 [[ 8.24057448e-01 5.61090046e-01 7.81491063e-02 1.01723786e+02] [-5.59052488e-01 8.27744261e-01 -4.79557509e-02 -2.39376881e+01] [-9.15949687e-02 -4.17115860e-03 9.95787609e-01 -1.23771611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.79629675700001 meters 0.07388096908975458 Centerline is valid? [True, True] Translation: X:101.75, Y:-23.95, Z:-12.38 [[ 8.26368208e-01 5.57752486e-01 7.76385783e-02 1.01749802e+02] [-5.55724589e-01 8.29998832e-01 -4.76667561e-02 -2.39545720e+01] [-9.10261810e-02 -3.75537514e-03 9.95841419e-01 -1.23815272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.82629675700001 meters 0.07386804835764978 Centerline is valid? [True, True] Translation: X:101.78, Y:-23.97, Z:-12.39 [[ 8.27582802e-01 5.56189339e-01 7.58954867e-02 1.01775727e+02] [-5.54243070e-01 8.31048305e-01 -4.66190386e-02 -2.39715661e+01] [-8.90018278e-02 -3.48343295e-03 9.96025371e-01 -1.23866680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.85629675700001 meters 0.0728130865430211 Centerline is valid? [True, True] Translation: X:101.80, Y:-23.99, Z:-12.39 [[ 8.30101680e-01 5.52255885e-01 7.71014814e-02 1.01800658e+02] [-5.50228079e-01 8.33668931e-01 -4.73832679e-02 -2.39925867e+01] [-9.04447981e-02 -3.09046971e-03 9.95896675e-01 -1.23882400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.88629675700001 meters 0.07199762350533012 Centerline is valid? [True, True] Translation: X:101.83, Y:-24.01, Z:-12.39 [[ 8.30825473e-01 5.51016584e-01 7.81649442e-02 1.01826277e+02] [-5.48924515e-01 8.34488989e-01 -4.80624954e-02 -2.40120399e+01] [-9.17110173e-02 -2.97510861e-03 9.95781220e-01 -1.23899142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.91629675700001 meters 0.07146268335411893 Centerline is valid? [True, True] Translation: X:101.85, Y:-24.03, Z:-12.39 [[ 8.33096669e-01 5.47346380e-01 7.97613978e-02 1.01853414e+02] [-5.45148143e-01 8.36902139e-01 -4.90745474e-02 -2.40292861e+01] [-9.36132603e-02 -2.59793593e-03 9.95605247e-01 -1.23927043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.946296757 meters 0.07136948963658026 Centerline is valid? [True, True] Translation: X:101.88, Y:-24.04, Z:-12.40 [[ 8.34107435e-01 5.45759422e-01 8.00714645e-02 1.01880240e+02] [-5.43535908e-01 8.37938415e-01 -4.92740252e-02 -2.40449080e+01] [-9.39867196e-02 -2.42188538e-03 9.95570505e-01 -1.23977010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.976296757 meters 0.07136082999040008 Centerline is valid? [True, True] Translation: X:101.91, Y:-24.06, Z:-12.40 [[ 8.35428970e-01 5.43971265e-01 7.84455197e-02 1.01906668e+02] [-5.41827302e-01 8.39101076e-01 -4.82965718e-02 -2.40628954e+01] [-9.20956673e-02 -2.15556910e-03 9.95747830e-01 -1.24023632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.006296757 meters 0.07105508769238945 Centerline is valid? [True, True] Translation: X:101.93, Y:-24.08, Z:-12.40 [[ 8.35767036e-01 5.43481834e-01 7.82365514e-02 1.01932604e+02] [-5.41344829e-01 8.39418365e-01 -4.81931965e-02 -2.40818091e+01] [-9.18653248e-02 -2.07466759e-03 9.95769279e-01 -1.24039017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.036296757 meters 0.07147424140841017 Centerline is valid? [True, True] Translation: X:101.96, Y:-24.10, Z:-12.41 [[ 8.36045390e-01 5.43090924e-01 7.79766322e-02 1.01959296e+02] [-5.40963726e-01 8.39671512e-01 -4.80624462e-02 -2.40965660e+01] [-9.15770349e-02 -2.00014296e-03 9.95795986e-01 -1.24088200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.066296757 meters 0.07175136548129778 Centerline is valid? [True, True] Translation: X:101.99, Y:-24.11, Z:-12.41 [[ 8.36053542e-01 5.43338187e-01 7.61451822e-02 1.01986632e+02] [-5.41309917e-01 8.39511605e-01 -4.69450514e-02 -2.41117997e+01] [-8.94318033e-02 -1.96956580e-03 9.95991001e-01 -1.24133723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.096296757 meters 0.07218163860648869 Centerline is valid? [True, True] Translation: X:102.01, Y:-24.13, Z:-12.42 [[ 8.35138645e-01 5.44810258e-01 7.56652250e-02 1.02014887e+02] [-5.42811588e-01 8.38556732e-01 -4.66710481e-02 -2.41260125e+01] [-8.88764495e-02 -2.09516503e-03 9.96040455e-01 -1.24188125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.126296757 meters 0.07259717502927772 Centerline is valid? [True, True] Translation: X:102.04, Y:-24.14, Z:-12.42 [[ 8.34057050e-01 5.46602229e-01 7.46648581e-02 1.02042150e+02] [-5.44661161e-01 8.37389400e-01 -4.60783253e-02 -2.41414820e+01] [-8.77100760e-02 -2.23509621e-03 9.96143537e-01 -1.24234004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.156296757 meters 0.07287871701996541 Centerline is valid? [True, True] Translation: X:102.07, Y:-24.16, Z:-12.43 [[ 8.32534377e-01 5.49024729e-01 7.38806982e-02 1.02069463e+02] [-5.47131952e-01 8.35802526e-01 -4.56153938e-02 -2.41584369e+01] [-8.67936535e-02 -2.44610715e-03 9.96223307e-01 -1.24254417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.18629675700001 meters 0.07299519921231791 Centerline is valid? [True, True] Translation: X:102.10, Y:-24.17, Z:-12.43 [[ 8.32053670e-01 5.49862145e-01 7.30637452e-02 1.02096503e+02] [-5.48012177e-01 8.35251727e-01 -4.51354239e-02 -2.41749191e+01] [-8.58448804e-02 -2.48472695e-03 9.96305416e-01 -1.24294440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.21629675700001 meters 0.07355943483208528 Centerline is valid? [True, True] Translation: X:102.12, Y:-24.19, Z:-12.43 [[ 8.31288642e-01 5.51107942e-01 7.23825296e-02 1.02123337e+02] [-5.49294953e-01 8.34430010e-01 -4.47393836e-02 -2.41903709e+01] [-8.50543845e-02 -2.56801673e-03 9.96373001e-01 -1.24340072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.24629675700001 meters 0.0735204556354297 Centerline is valid? [True, True] Translation: X:102.15, Y:-24.21, Z:-12.44 [[ 8.30800061e-01 5.51747632e-01 7.31150410e-02 1.02150107e+02] [-5.49898241e-01 8.34006938e-01 -4.52145129e-02 -2.42075239e+01] [-8.59254519e-02 -2.64161237e-03 9.96298067e-01 -1.24378806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.27629675700001 meters 0.07361328087588562 Centerline is valid? [True, True] Translation: X:102.18, Y:-24.22, Z:-12.44 [[ 8.30680031e-01 5.51973663e-01 7.27719874e-02 1.02177220e+02] [-5.50140409e-01 8.33857390e-01 -4.50264675e-02 -2.42246063e+01] [-8.55348837e-02 -2.63222353e-03 9.96331699e-01 -1.24418134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.306296757 meters 0.07372276030290546 Centerline is valid? [True, True] Translation: X:102.20, Y:-24.24, Z:-12.45 [[ 8.30125758e-01 5.52917273e-01 7.19285395e-02 1.02203987e+02] [-5.51127858e-01 8.33231852e-01 -4.45282600e-02 -2.42418411e+01] [-8.45535943e-02 -2.67776629e-03 9.96415335e-01 -1.24451453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.336296757 meters 0.07403552652742429 Centerline is valid? [True, True] Translation: X:102.23, Y:-24.26, Z:-12.45 [[ 8.29216321e-01 5.54275638e-01 7.19639490e-02 1.02231637e+02] [-5.52487480e-01 8.32328476e-01 -4.45745650e-02 -2.42581334e+01] [-8.46042395e-02 -2.79722401e-03 9.96410708e-01 -1.24497329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.366296757 meters 0.07416200430393567 Centerline is valid? [True, True] Translation: X:102.26, Y:-24.27, Z:-12.45 [[ 8.28866737e-01 5.54920804e-01 7.10129071e-02 1.02258100e+02] [-5.53179700e-01 8.31898462e-01 -4.40132748e-02 -2.42740138e+01] [-8.34994101e-02 -2.80175916e-03 9.96503888e-01 -1.24541936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.396296757 meters 0.07461475830931517 Centerline is valid? [True, True] Translation: X:102.28, Y:-24.29, Z:-12.46 [[ 8.28813985e-01 5.54873723e-01 7.19897858e-02 1.02284905e+02] [-5.53083402e-01 8.31929775e-01 -4.46273486e-02 -2.42891131e+01] [-8.46529893e-02 -2.82858503e-03 9.96406479e-01 -1.24594356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.426296757 meters 0.07421165139886841 Centerline is valid? [True, True] Translation: X:102.31, Y:-24.31, Z:-12.46 [[ 8.28729340e-01 5.54911672e-01 7.26685473e-02 1.02311257e+02] [-5.53084981e-01 8.31904442e-01 -4.50777475e-02 -2.43083736e+01] [-8.54674555e-02 -2.83463018e-03 9.96336930e-01 -1.24616038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.456296757 meters 0.07407153499122844 Centerline is valid? [True, True] Translation: X:102.34, Y:-24.33, Z:-12.47 [[ 8.29479353e-01 5.53616769e-01 7.39761796e-02 1.02335955e+02] [-5.51718047e-01 8.32767034e-01 -4.58940430e-02 -2.43269843e+01] [-8.70126355e-02 -2.74583231e-03 9.96203424e-01 -1.24651747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.486296757 meters 0.07397619786011145 Centerline is valid? [True, True] Translation: X:102.36, Y:-24.35, Z:-12.47 [[ 8.29809495e-01 5.53134189e-01 7.38834971e-02 1.02362205e+02] [-5.51236587e-01 8.33087878e-01 -4.58564390e-02 -2.43456631e+01] [-8.69162101e-02 -2.67517828e-03 9.96212034e-01 -1.24691440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.516296757 meters 0.07394204881164292 Centerline is valid? [True, True] Translation: X:102.39, Y:-24.36, Z:-12.47 [[ 8.31015450e-01 5.51238269e-01 7.44962543e-02 1.02386587e+02] [-5.49298900e-01 8.34344204e-01 -4.62651856e-02 -2.43637002e+01] [-8.76586589e-02 -2.47362642e-03 9.96147499e-01 -1.24740387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.54629675700001 meters 0.07398998534016293 Centerline is valid? [True, True] Translation: X:102.41, Y:-24.38, Z:-12.48 [[ 8.31106719e-01 5.51069944e-01 7.47230769e-02 1.02412835e+02] [-5.49117173e-01 8.34455445e-01 -4.64159628e-02 -2.43805123e+01] [-8.79315203e-02 -2.45510615e-03 9.96123496e-01 -1.24778549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.57629675700001 meters 0.07403247930533799 Centerline is valid? [True, True] Translation: X:102.44, Y:-24.40, Z:-12.48 [[ 8.30897002e-01 5.51200310e-01 7.60814765e-02 1.02439032e+02] [-5.49174250e-01 8.34369219e-01 -4.72826599e-02 -2.43992725e+01] [-8.95422589e-02 -2.49496747e-03 9.95979899e-01 -1.24808271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.60629675700001 meters 0.07385514075720381 Centerline is valid? [True, True] Translation: X:102.46, Y:-24.42, Z:-12.48 [[ 8.30598498e-01 5.51566502e-01 7.66846042e-02 1.02463953e+02] [-5.49507359e-01 8.34127075e-01 -4.76831834e-02 -2.44169335e+01] [-9.02651513e-02 -2.53317378e-03 9.95914547e-01 -1.24835857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.63629675700001 meters 0.07365198443207785 Centerline is valid? [True, True] Translation: X:102.49, Y:-24.44, Z:-12.49 [[ 8.29664920e-01 5.52927417e-01 7.69895641e-02 1.02489314e+02] [-5.50855606e-01 8.33225136e-01 -4.78954504e-02 -2.44367775e+01] [-9.06323477e-02 -2.67295801e-03 9.95880833e-01 -1.24850821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.66629675700001 meters 0.07468024749659853 Centerline is valid? [True, True] Translation: X:102.52, Y:-24.45, Z:-12.49 [[ 8.28618222e-01 5.54553550e-01 7.65650230e-02 1.02517323e+02] [-5.52508857e-01 8.32143293e-01 -4.76602827e-02 -2.44489170e+01] [-9.01432493e-02 -2.81067462e-03 9.95924844e-01 -1.24914182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.696296757 meters 0.07568378475425601 Centerline is valid? [True, True] Translation: X:102.55, Y:-24.46, Z:-12.50 [[ 8.26789911e-01 5.57446820e-01 7.53092712e-02 1.02545515e+02] [-5.55479862e-01 8.30206987e-01 -4.68879728e-02 -2.44625773e+01] [-8.86598345e-02 -3.06628067e-03 9.96057243e-01 -1.24973823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.726296757 meters 0.07536848822524958 Centerline is valid? [True, True] Translation: X:102.57, Y:-24.48, Z:-12.50 [[ 8.25509761e-01 5.59397889e-01 7.48841507e-02 1.02571746e+02] [-5.57459272e-01 8.28892939e-01 -4.66439177e-02 -2.44810388e+01] [-8.81634529e-02 -3.23985476e-03 9.96100752e-01 -1.24990125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.756296757 meters 0.07662045012804149 Centerline is valid? [True, True] Translation: X:102.60, Y:-24.50, Z:-12.50 [[ 8.22988486e-01 5.63161392e-01 7.44257945e-02 1.02599988e+02] [-5.61259561e-01 8.26339090e-01 -4.63833292e-02 -2.44957504e+01] [-8.76222435e-02 -3.59924283e-03 9.96147272e-01 -1.25028438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.786296757 meters 0.07635364066439303 Centerline is valid? [True, True] Translation: X:102.63, Y:-24.51, Z:-12.51 [[ 8.21821043e-01 5.64979429e-01 7.35419513e-02 1.02626414e+02] [-5.63127961e-01 8.25096560e-01 -4.58537520e-02 -2.45134825e+01] [-8.65856376e-02 -3.72995086e-03 9.96237429e-01 -1.25057585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.816296757 meters 0.07767640509587569 Centerline is valid? [True, True] Translation: X:102.65, Y:-24.53, Z:-12.51 [[ 8.19941938e-01 5.68055729e-01 7.07665728e-02 1.02654250e+02] [-5.66350693e-01 8.22980953e-01 -4.41502341e-02 -2.45260789e+01] [-8.33193350e-02 -3.87806909e-03 9.96515353e-01 -1.25112812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.846296757 meters 0.07856488927856504 Centerline is valid? [True, True] Translation: X:102.68, Y:-24.54, Z:-12.52 [[ 8.18734018e-01 5.69974361e-01 6.93097058e-02 1.02682113e+02] [-5.68345073e-01 8.21652829e-01 -4.32493635e-02 -2.45400305e+01] [-8.15995442e-02 -3.98210460e-03 9.96657242e-01 -1.25167982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.876296757 meters 0.07984324198640774 Centerline is valid? [True, True] Translation: X:102.71, Y:-24.55, Z:-12.52 [[ 8.17712045e-01 5.71920251e-01 6.52245224e-02 1.02709059e+02] [-5.70482289e-01 8.20299893e-01 -4.07190812e-02 -2.45541609e+01] [-7.67917359e-02 -3.91295166e-03 9.97039477e-01 -1.25241138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.906296757 meters 0.0800992045032194 Centerline is valid? [True, True] Translation: X:102.74, Y:-24.57, Z:-12.53 [[ 8.17892357e-01 5.71869221e-01 6.33852307e-02 1.02736130e+02] [-5.70509873e-01 8.20336079e-01 -3.95879132e-02 -2.45715478e+01] [-7.46363006e-02 -3.78324835e-03 9.97203645e-01 -1.25284273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.93629675700001 meters 0.07987462185928455 Centerline is valid? [True, True] Translation: X:102.76, Y:-24.59, Z:-12.53 [[ 8.18061450e-01 5.71592988e-01 6.36939523e-02 1.02761866e+02] [-5.70218004e-01 8.20528683e-01 -3.98008571e-02 -2.45906003e+01] [-7.50126056e-02 -3.75989146e-03 9.97175497e-01 -1.25307756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.96629675700001 meters 0.07836785969432217 Centerline is valid? [True, True] Translation: X:102.79, Y:-24.61, Z:-12.53 [[ 8.20155034e-01 5.68568614e-01 6.38392588e-02 1.02785237e+02] [-5.67176505e-01 8.22628515e-01 -3.99141389e-02 -2.46127636e+01] [-7.52099214e-02 -3.47234572e-03 9.97161677e-01 -1.25314632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.99629675700001 meters 0.0769590804335538 Centerline is valid? [True, True] Translation: X:102.81, Y:-24.63, Z:-12.53 [[ 8.22975389e-01 5.64529432e-01 6.33879359e-02 1.02809308e+02] [-5.63143697e-01 8.25407244e-01 -3.96491861e-02 -2.46349616e+01] [-7.47039940e-02 -3.06621224e-03 9.97201039e-01 -1.25332231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.02629675700001 meters 0.07644451866250318 Centerline is valid? [True, True] Translation: X:102.84, Y:-24.65, Z:-12.54 [[ 8.24453344e-01 5.62369767e-01 6.33792380e-02 1.02835167e+02] [-5.60976006e-01 8.26880969e-01 -3.96709374e-02 -2.46541815e+01] [-7.47168216e-02 -2.84739482e-03 9.97200726e-01 -1.25369297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.05629675700001 meters 0.07602788689781238 Centerline is valid? [True, True] Translation: X:102.86, Y:-24.67, Z:-12.54 [[ 8.25844822e-01 5.60160975e-01 6.48074983e-02 1.02860309e+02] [-5.58696496e-01 8.28379364e-01 -4.05691323e-02 -2.46738900e+01] [-7.64104389e-02 -2.70391442e-03 9.97072783e-01 -1.25398673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.086296757 meters 0.0747244144004871 Centerline is valid? [True, True] Translation: X:102.88, Y:-24.70, Z:-12.54 [[ 8.29341194e-01 5.54808996e-01 6.61827899e-02 1.02882998e+02] [-5.53262273e-01 8.31974755e-01 -4.14591952e-02 -2.46994748e+01] [-7.80643449e-02 -2.23262235e-03 9.96945823e-01 -1.25395835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.116296757 meters 0.07463840672945618 Centerline is valid? [True, True] Translation: X:102.91, Y:-24.72, Z:-12.54 [[ 8.30225599e-01 5.53325614e-01 6.74997733e-02 1.02907436e+02] [-5.51711552e-01 8.32962313e-01 -4.22864957e-02 -2.47182507e+01] [-7.96229685e-02 -2.13307346e-03 9.96822769e-01 -1.25435480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.146296757 meters 0.07444977348520983 Centerline is valid? [True, True] Translation: X:102.93, Y:-24.74, Z:-12.55 [[ 8.31736873e-01 5.50863200e-01 6.90181845e-02 1.02931362e+02] [-5.49165187e-01 8.34593343e-01 -4.32614155e-02 -2.47368421e+01] [-8.14332391e-02 -1.92026975e-03 9.96676949e-01 -1.25474158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.176296757 meters 0.07420613098952412 Centerline is valid? [True, True] Translation: X:102.96, Y:-24.76, Z:-12.55 [[ 8.31571519e-01 5.51176201e-01 6.85098816e-02 1.02957760e+02] [-5.49502976e-01 8.34386657e-01 -4.29579458e-02 -2.47557272e+01] [-8.08411285e-02 -1.92377963e-03 9.96725143e-01 -1.25493179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.206296757 meters 0.07433961789655244 Centerline is valid? [True, True] Translation: X:102.98, Y:-24.77, Z:-12.55 [[ 8.31065010e-01 5.51936470e-01 6.85352612e-02 1.02984340e+02] [-5.50262692e-01 8.33883815e-01 -4.29971252e-02 -2.47735180e+01] [-8.08821265e-02 -1.97899108e-03 9.96721709e-01 -1.25519911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.236296757 meters 0.07459183077421563 Centerline is valid? [True, True] Translation: X:103.01, Y:-24.79, Z:-12.56 [[ 8.30484594e-01 5.52822390e-01 6.84305847e-02 1.03010842e+02] [-5.51154842e-01 8.33296606e-01 -4.29547154e-02 -2.47911299e+01] [-8.07693024e-02 -2.04261873e-03 9.96730730e-01 -1.25560214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.266296757 meters 0.07530452748972806 Centerline is valid? [True, True] Translation: X:103.04, Y:-24.81, Z:-12.56 [[ 8.28412467e-01 5.55982383e-01 6.79439138e-02 1.03037415e+02] [-5.54347127e-01 8.31190856e-01 -4.26734575e-02 -2.48055832e+01] [-8.02000504e-02 -2.31328926e-03 9.96776104e-01 -1.25608217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.29629675700001 meters 0.07566922685495858 Centerline is valid? [True, True] Translation: X:103.07, Y:-24.82, Z:-12.56 [[ 8.27111264e-01 5.58107896e-01 6.63515829e-02 1.03065078e+02] [-5.56553885e-01 8.29764786e-01 -4.16914084e-02 -2.48211248e+01] [-7.83245111e-02 -2.44479771e-03 9.96924919e-01 -1.25645489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.32629675700001 meters 0.07722224698059657 Centerline is valid? [True, True] Translation: X:103.10, Y:-24.83, Z:-12.57 [[ 8.23647842e-01 5.63474594e-01 6.40360442e-02 1.03095115e+02] [-5.62042064e-01 8.26128525e-01 -4.02539237e-02 -2.48330316e+01] [-7.55840661e-02 -2.83589308e-03 9.97135400e-01 -1.25709857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.35629675700001 meters 0.07772811050468344 Centerline is valid? [True, True] Translation: X:103.12, Y:-24.85, Z:-12.58 [[ 8.21880440e-01 5.66106702e-01 6.35275100e-02 1.03123161e+02] [-5.64703049e-01 8.24326385e-01 -3.99559366e-02 -2.48478976e+01] [-7.49867262e-02 -3.03517583e-03 9.97179913e-01 -1.25755954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.38629675700001 meters 0.07931686898133888 Centerline is valid? [True, True] Translation: X:103.15, Y:-24.86, Z:-12.58 [[ 8.18830366e-01 5.70663516e-01 6.21287704e-02 1.03151455e+02] [-5.69332608e-01 8.21177125e-01 -3.90961813e-02 -2.48593272e+01] [-7.33294894e-02 -3.35879444e-03 9.97302113e-01 -1.25809761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.41629675700001 meters 0.0793015652534904 Centerline is valid? [True, True] Translation: X:103.18, Y:-24.88, Z:-12.58 [[ 8.17576096e-01 5.72472445e-01 6.20050577e-02 1.03178733e+02] [-5.71150826e-01 8.19916487e-01 -3.90344564e-02 -2.48757823e+01] [-7.31851198e-02 -3.50060144e-03 9.97312230e-01 -1.25830022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.446296757 meters 0.07984450394210564 Centerline is valid? [True, True] Translation: X:103.21, Y:-24.89, Z:-12.59 [[ 8.15808067e-01 5.75003061e-01 6.18763131e-02 1.03206256e+02] [-5.73693009e-01 8.18142861e-01 -3.89691093e-02 -2.48915022e+01] [-7.30310209e-02 -3.70669452e-03 9.97322781e-01 -1.25859533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.476296757 meters 0.07976570891862951 Centerline is valid? [True, True] Translation: X:103.23, Y:-24.91, Z:-12.59 [[ 8.15582221e-01 5.75279507e-01 6.22826631e-02 1.03232707e+02] [-5.73951551e-01 8.17948348e-01 -3.92443327e-02 -2.49084748e+01] [-7.35204618e-02 -3.74025106e-03 9.97286695e-01 -1.25894093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.506296757 meters 0.0805206765523621 Centerline is valid? [True, True] Translation: X:103.26, Y:-24.92, Z:-12.60 [[ 8.16323847e-01 5.74461345e-01 6.00794574e-02 1.03259587e+02] [-5.73222084e-01 8.18524148e-01 -3.78769306e-02 -2.49236214e+01] [-7.09353191e-02 -3.51903014e-03 9.97474710e-01 -1.25958272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.536296757 meters 0.0805206765523621 Centerline is valid? [True, True] Translation: X:103.29, Y:-24.94, Z:-12.60 [[ 8.16164070e-01 5.74689119e-01 6.00718425e-02 1.03286787e+02] [-5.73449588e-01 8.18364218e-01 -3.78890024e-02 -2.49409201e+01] [-7.09350438e-02 -3.52453093e-03 9.97474710e-01 -1.25995937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.566296757 meters 0.0802947955269415 Centerline is valid? [True, True] Translation: X:103.31, Y:-24.96, Z:-12.60 [[ 8.16646786e-01 5.73855671e-01 6.14629627e-02 1.03312871e+02] [-5.72553006e-01 8.18948960e-01 -3.88027745e-02 -2.49590197e+01] [-7.26022216e-02 -3.50264299e-03 9.97354826e-01 -1.26026196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.596296757 meters 0.07813950922521326 Centerline is valid? [True, True] Translation: X:103.34, Y:-24.98, Z:-12.60 [[ 8.18960491e-01 5.70531357e-01 6.16253660e-02 1.03335604e+02] [-5.69212789e-01 8.21269505e-01 -3.88998917e-02 -2.49841703e+01] [-7.28046418e-02 -3.22047202e-03 9.97341021e-01 -1.26013135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.626296757 meters 0.0777032952675672 Centerline is valid? [True, True] Translation: X:103.36, Y:-25.00, Z:-12.60 [[ 8.20052727e-01 5.68918789e-01 6.20075512e-02 1.03360681e+02] [-5.67577542e-01 8.22387949e-01 -3.91636996e-02 -2.50030369e+01] [-7.32752274e-02 -3.07779487e-03 9.97307008e-01 -1.26044160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.656296757 meters 0.07739882094505993 Centerline is valid? [True, True] Translation: X:103.39, Y:-25.02, Z:-12.61 [[ 8.22211326e-01 5.65656976e-01 6.32512563e-02 1.03385740e+02] [-5.64250058e-01 8.24635801e-01 -3.99708296e-02 -2.50216185e+01] [-7.47690290e-02 -2.82505622e-03 9.97196877e-01 -1.26090484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.68629675700001 meters 0.0773358070584586 Centerline is valid? [True, True] Translation: X:103.41, Y:-25.04, Z:-12.61 [[ 8.22555597e-01 5.65193232e-01 6.29197931e-02 1.03412386e+02] [-5.63798243e-01 8.24953960e-01 -3.97807152e-02 -2.50390388e+01] [-7.43897235e-02 -2.75221881e-03 9.97225448e-01 -1.26127189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.71629675700001 meters 0.07661634955443285 Centerline is valid? [True, True] Translation: X:103.44, Y:-25.06, Z:-12.61 [[ 8.22637147e-01 5.64986585e-01 6.37046601e-02 1.03437439e+02] [-5.63554298e-01 8.25095507e-01 -4.02983531e-02 -2.50589719e+01] [-7.53304577e-02 -2.75011277e-03 9.97154832e-01 -1.26136130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.74629675700001 meters 0.07728418868695931 Centerline is valid? [True, True] Translation: X:103.46, Y:-25.07, Z:-12.62 [[ 8.22424852e-01 5.65105775e-01 6.53668543e-02 1.03464325e+02] [-5.63596154e-01 8.25013665e-01 -4.13742400e-02 -2.50732539e+01] [-7.73093700e-02 -2.81330450e-03 9.97003183e-01 -1.26198234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.77629675700001 meters 0.07731725994954622 Centerline is valid? [True, True] Translation: X:103.49, Y:-25.09, Z:-12.62 [[ 8.22032701e-01 5.65644560e-01 6.56389377e-02 1.03491855e+02] [-5.64122562e-01 8.24644197e-01 -4.15654149e-02 -2.50914995e+01] [-7.76400198e-02 -2.86027540e-03 9.96977355e-01 -1.26224993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.80629675700001 meters 0.07708394870638718 Centerline is valid? [True, True] Translation: X:103.52, Y:-25.11, Z:-12.63 [[ 8.21623461e-01 5.66247104e-01 6.55675644e-02 1.03518111e+02] [-5.64728253e-01 8.24230462e-01 -4.15469183e-02 -2.51097817e+01] [-7.75686061e-02 -2.89193323e-03 9.96982822e-01 -1.26257509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.836296757 meters 0.07793000009050272 Centerline is valid? [True, True] Translation: X:103.54, Y:-25.13, Z:-12.63 [[ 8.20439391e-01 5.68041685e-01 6.48679480e-02 1.03544276e+02] [-5.66558883e-01 8.22994283e-01 -4.11271547e-02 -2.51250541e+01] [-7.67478886e-02 -3.00917439e-03 9.97045990e-01 -1.26306759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.866296757 meters 0.07806057887870534 Centerline is valid? [True, True] Translation: X:103.57, Y:-25.14, Z:-12.63 [[ 8.19891714e-01 5.68782764e-01 6.52973539e-02 1.03571814e+02] [-5.67281330e-01 8.22482003e-01 -4.14155410e-02 -2.51419991e+01] [-7.72623443e-02 -3.08571089e-03 9.97006022e-01 -1.26344219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.896296757 meters 0.07791957075100944 Centerline is valid? [True, True] Translation: X:103.60, Y:-25.16, Z:-12.64 [[ 8.18120830e-01 5.71374467e-01 6.48808595e-02 1.03599103e+02] [-5.69898162e-01 8.20682897e-01 -4.11784774e-02 -2.51591077e+01] [-7.67749423e-02 -3.28651249e-03 9.97043032e-01 -1.26361886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.926296757 meters 0.07931347773433385 Centerline is valid? [True, True] Translation: X:103.63, Y:-25.17, Z:-12.64 [[ 8.16963027e-01 5.73116489e-01 6.41007247e-02 1.03627529e+02] [-5.71679331e-01 8.19466890e-01 -4.07032896e-02 -2.51715516e+01] [-7.58561480e-02 -3.39197676e-03 9.97113002e-01 -1.26430817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.956296757 meters 0.07950962767775269 Centerline is valid? [True, True] Translation: X:103.65, Y:-25.19, Z:-12.65 [[ 8.14949608e-01 5.76073239e-01 6.32199337e-02 1.03654870e+02] [-5.74682726e-01 8.17390153e-01 -4.01634509e-02 -2.51881885e+01] [-7.48124405e-02 -3.60021529e-03 9.97191124e-01 -1.26453365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.986296757 meters 0.07944705096092129 Centerline is valid? [True, True] Translation: X:103.68, Y:-25.21, Z:-12.65 [[ 8.14328106e-01 5.76997257e-01 6.28004881e-02 1.03681622e+02] [-5.75626401e-01 8.16737954e-01 -3.99169258e-02 -2.52054835e+01] [-7.43234989e-02 -3.64414434e-03 9.97227526e-01 -1.26477432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.016296757 meters 0.0827812147206121 Centerline is valid? [True, True] Translation: X:103.71, Y:-25.21, Z:-12.66 [[ 8.12188534e-01 5.80114925e-01 6.17775062e-02 1.03712284e+02] [-5.78795753e-01 8.14525553e-01 -3.92886737e-02 -2.52141889e+01] [-7.31113034e-02 -3.84674792e-03 9.97316369e-01 -1.26564122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04629675700001 meters 0.08120366226904716 Centerline is valid? [True, True] Translation: X:103.74, Y:-25.24, Z:-12.66 [[ 8.11150233e-01 5.81576324e-01 6.16788374e-02 1.03736543e+02] [-5.80264026e-01 8.13482230e-01 -3.92469304e-02 -2.52353743e+01] [-7.29997237e-02 -3.95485379e-03 9.97324120e-01 -1.26558882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.07629675700001 meters 0.0814875193556357 Centerline is valid? [True, True] Translation: X:103.76, Y:-25.25, Z:-12.66 [[ 8.10564667e-01 5.82472198e-01 6.09184713e-02 1.03763333e+02] [-5.81193201e-01 8.12840932e-01 -3.87825046e-02 -2.52517646e+01] [-7.21067576e-02 -3.96967339e-03 9.97389020e-01 -1.26596852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.10629675700001 meters 0.08262140719353071 Centerline is valid? [True, True] Translation: X:103.79, Y:-25.27, Z:-12.66 [[ 8.09295689e-01 5.84202725e-01 6.12181684e-02 1.03790795e+02] [-5.82914421e-01 8.11597283e-01 -3.89952323e-02 -2.52652357e+01] [-7.24656201e-02 -4.12627973e-03 9.97362375e-01 -1.26642193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.13629675700001 meters 0.0827766515838009 Centerline is valid? [True, True] Translation: X:103.82, Y:-25.28, Z:-12.67 [[ 8.09424147e-01 5.83919897e-01 6.22101528e-02 1.03817702e+02] [-5.82587448e-01 8.11800647e-01 -3.96430816e-02 -2.52808914e+01] [-7.36506265e-02 -4.15478665e-03 9.97275450e-01 -1.26673723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16629675700001 meters 0.08208467774707362 Centerline is valid? [True, True] Translation: X:103.84, Y:-25.30, Z:-12.67 [[ 8.09284086e-01 5.84175924e-01 6.16259525e-02 1.03843047e+02] [-5.82867802e-01 8.11616588e-01 -3.92891793e-02 -2.53005224e+01] [-7.29684379e-02 -4.12367596e-03 9.97325725e-01 -1.26687872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.196296757 meters 0.08214924920414125 Centerline is valid? [True, True] Translation: X:103.87, Y:-25.32, Z:-12.67 [[ 8.09880512e-01 5.83303083e-01 6.20569917e-02 1.03869197e+02] [-5.81972374e-01 8.12244464e-01 -3.95864378e-02 -2.53173567e+01] [-7.34963392e-02 -4.05517025e-03 9.97287242e-01 -1.26726285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.226296757 meters 0.08199499297616862 Centerline is valid? [True, True] Translation: X:103.89, Y:-25.34, Z:-12.68 [[ 8.11184917e-01 5.81541731e-01 6.15487249e-02 1.03894046e+02] [-5.80226187e-01 8.13507480e-01 -3.92829691e-02 -2.53358853e+01] [-7.29150340e-02 -3.84642996e-03 9.97330739e-01 -1.26756123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.256296757 meters 0.08075218060137264 Centerline is valid? [True, True] Translation: X:103.92, Y:-25.36, Z:-12.68 [[ 8.12536421e-01 5.79694242e-01 6.11485961e-02 1.03918761e+02] [-5.78388696e-01 8.14825975e-01 -3.90531360e-02 -2.53571577e+01] [-7.24643425e-02 -3.63556146e-03 9.97364378e-01 -1.26776201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.286296757 meters 0.08128363642655186 Centerline is valid? [True, True] Translation: X:103.95, Y:-25.37, Z:-12.68 [[ 8.13185570e-01 5.78789978e-01 6.10851077e-02 1.03945389e+02] [-5.77483996e-01 8.15468944e-01 -3.90209734e-02 -2.53719313e+01] [-7.23979566e-02 -3.54437959e-03 9.97369527e-01 -1.26836785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.316296757 meters 0.08092740123369362 Centerline is valid? [True, True] Translation: X:103.97, Y:-25.39, Z:-12.69 [[ 8.13667941e-01 5.77952479e-01 6.25732730e-02 1.03971381e+02] [-5.76578457e-01 8.16062731e-01 -3.99862791e-02 -2.53902881e+01] [-7.41738852e-02 -3.54284783e-03 9.97239030e-01 -1.26874421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.346296757 meters 0.08076203469472355 Centerline is valid? [True, True] Translation: X:104.00, Y:-25.41, Z:-12.69 [[ 8.15123884e-01 5.75677774e-01 6.45612378e-02 1.03996739e+02] [-5.74207097e-01 8.17669435e-01 -4.12662666e-02 -2.54067911e+01] [-7.65458233e-02 -3.43440143e-03 9.97060150e-01 -1.26908710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.376296757 meters 0.07997728014916188 Centerline is valid? [True, True] Translation: X:104.02, Y:-25.43, Z:-12.69 [[ 8.15863990e-01 5.74463739e-01 6.60103275e-02 1.04021827e+02] [-5.72921792e-01 8.18523009e-01 -4.21983836e-02 -2.54264046e+01] [-7.82724131e-02 -3.39061344e-03 9.96926243e-01 -1.26927093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.406296757 meters 0.07971091049200534 Centerline is valid? [True, True] Translation: X:104.05, Y:-25.45, Z:-12.70 [[ 8.17008844e-01 5.72719832e-01 6.69965939e-02 1.04046527e+02] [-5.71123862e-01 8.19744718e-01 -4.28500998e-02 -2.54455005e+01] [-7.94612059e-02 -3.25444297e-03 9.96832647e-01 -1.26960181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.43629675700001 meters 0.07914973884117175 Centerline is valid? [True, True] Translation: X:104.07, Y:-25.46, Z:-12.70 [[ 8.17139850e-01 5.72480918e-01 6.74393368e-02 1.04072233e+02] [-5.70861372e-01 8.19911656e-01 -4.31528788e-02 -2.54649669e+01] [-7.99984979e-02 -3.23657540e-03 9.96789730e-01 -1.26980545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.46629675700001 meters 0.0798011081153967 Centerline is valid? [True, True] Translation: X:104.10, Y:-25.48, Z:-12.70 [[ 8.16686316e-01 5.73160075e-01 6.71639028e-02 1.04099426e+02] [-5.71554165e-01 8.19436901e-01 -4.30000321e-02 -2.54788484e+01] [-7.96824820e-02 -3.27027051e-03 9.96814931e-01 -1.27040742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.49629675700001 meters 0.08053273640872145 Centerline is valid? [True, True] Translation: X:104.13, Y:-25.49, Z:-12.71 [[ 8.16269608e-01 5.73783850e-01 6.69030633e-02 1.04126579e+02] [-5.72190820e-01 8.19000121e-01 -4.28540304e-02 -2.54937528e+01] [-7.93825675e-02 -3.30087609e-03 9.96838759e-01 -1.27095215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.52629675700001 meters 0.07964008238213935 Centerline is valid? [True, True] Translation: X:104.15, Y:-25.51, Z:-12.71 [[ 8.15811918e-01 5.74400935e-01 6.71898765e-02 1.04153509e+02] [-5.72794825e-01 8.18567207e-01 -4.30559579e-02 -2.55133086e+01] [-7.97308121e-02 -3.36044992e-03 9.96810767e-01 -1.27108228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.55629675700001 meters 0.08063672509999682 Centerline is valid? [True, True] Translation: X:104.18, Y:-25.53, Z:-12.72 [[ 8.14258476e-01 5.76562884e-01 6.75157374e-02 1.04182022e+02] [-5.74946215e-01 8.17044996e-01 -4.32934651e-02 -2.55259534e+01] [-8.01248005e-02 -3.56584674e-03 9.96778461e-01 -1.27164885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.586296757 meters 0.08126134665033129 Centerline is valid? [True, True] Translation: X:104.21, Y:-25.54, Z:-12.72 [[ 8.13033566e-01 5.78289427e-01 6.75111817e-02 1.04209883e+02] [-5.76677162e-01 8.15823213e-01 -4.33120624e-02 -2.55405073e+01] [-8.01240970e-02 -3.71799614e-03 9.96777962e-01 -1.27197988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.616296757 meters 0.08009049496434902 Centerline is valid? [True, True] Translation: X:104.24, Y:-25.56, Z:-12.72 [[ 8.11181259e-01 5.80830128e-01 6.79803467e-02 1.04236797e+02] [-5.79202591e-01 8.14015062e-01 -4.36329888e-02 -2.55590704e+01] [-8.06803805e-02 -3.98013014e-03 9.96732078e-01 -1.27188312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.646296757 meters 0.0812111031081912 Centerline is valid? [True, True] Translation: X:104.27, Y:-25.57, Z:-12.72 [[ 8.10304493e-01 5.81927684e-01 6.90420135e-02 1.04265834e+02] [-5.80250805e-01 8.13230030e-01 -4.43387076e-02 -2.55722843e+01] [-8.19489602e-02 -4.13382997e-03 9.96627954e-01 -1.27242602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.676296757 meters 0.08078884716536777 Centerline is valid? [True, True] Translation: X:104.29, Y:-25.59, Z:-12.73 [[ 8.09462657e-01 5.83071097e-01 6.92697816e-02 1.04292600e+02] [-5.81385049e-01 8.12410060e-01 -4.45120221e-02 -2.55900762e+01] [-8.22291409e-02 -4.24159566e-03 9.96604424e-01 -1.27264098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.706296757 meters 0.08104623440232259 Centerline is valid? [True, True] Translation: X:104.32, Y:-25.60, Z:-12.73 [[ 8.08422791e-01 5.84538725e-01 6.90439715e-02 1.04321316e+02] [-5.82867003e-01 8.11354113e-01 -4.43909851e-02 -2.56042805e+01] [-8.19673601e-02 -4.35676865e-03 9.96625492e-01 -1.27297599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.736296757 meters 0.08148054082965926 Centerline is valid? [True, True] Translation: X:104.35, Y:-25.62, Z:-12.73 [[ 8.07871307e-01 5.85259124e-01 6.93953061e-02 1.04349601e+02] [-5.83570945e-01 8.10834205e-01 -4.46412784e-02 -2.56184772e+01] [-8.23948034e-02 -4.43267644e-03 9.96589910e-01 -1.27342479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.766296757 meters 0.08155777487387164 Centerline is valid? [True, True] Translation: X:104.38, Y:-25.63, Z:-12.74 [[ 8.08128881e-01 5.84916480e-01 6.92850876e-02 1.04376005e+02] [-5.83230383e-01 8.11081752e-01 -4.45949778e-02 -2.56337412e+01] [-8.22802077e-02 -4.37067867e-03 9.96599651e-01 -1.27387054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79629675700001 meters 0.08148034911899568 Centerline is valid? [True, True] Translation: X:104.40, Y:-25.65, Z:-12.74 [[ 8.08546961e-01 5.84385579e-01 6.88861810e-02 1.04402453e+02] [-5.82715224e-01 8.11464863e-01 -4.43592617e-02 -2.56506269e+01] [-8.18216283e-02 -4.27448017e-03 9.96637823e-01 -1.27430293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82629675700001 meters 0.08047494106974515 Centerline is valid? [True, True] Translation: X:104.43, Y:-25.67, Z:-12.75 [[ 8.09728178e-01 5.82870460e-01 6.78402818e-02 1.04427835e+02] [-5.81243396e-01 8.12555048e-01 -4.37082246e-02 -2.56706975e+01] [-8.06001964e-02 -4.03993467e-03 9.96738324e-01 -1.27458035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85629675700001 meters 0.08069020640552226 Centerline is valid? [True, True] Translation: X:104.45, Y:-25.69, Z:-12.75 [[ 8.11225789e-01 5.80794669e-01 6.77515382e-02 1.04453982e+02] [-5.79162653e-01 8.14041184e-01 -4.36757604e-02 -2.56865483e+01] [-8.05191912e-02 -3.80825736e-03 9.96745784e-01 -1.27511665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88629675700001 meters 0.07914627006308708 Centerline is valid? [True, True] Translation: X:104.48, Y:-25.71, Z:-12.75 [[ 8.14182266e-01 5.76780359e-01 6.65706756e-02 1.04477170e+02] [-5.75189823e-01 8.16892465e-01 -4.29344619e-02 -2.57095612e+01] [-7.91448376e-02 -3.33429760e-03 9.96857551e-01 -1.27531930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91629675700001 meters 0.07858153018332859 Centerline is valid? [True, True] Translation: X:104.50, Y:-25.73, Z:-12.76 [[ 8.15795907e-01 5.74520607e-01 6.63559366e-02 1.04502162e+02] [-5.72930511e-01 8.18484321e-01 -4.28257600e-02 -2.57301574e+01] [-7.89155754e-02 -3.08026095e-03 9.96876544e-01 -1.27554906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.946296757 meters 0.07721399150935837 Centerline is valid? [True, True] Translation: X:104.53, Y:-25.75, Z:-12.76 [[ 8.19157826e-01 5.69536201e-01 6.78894101e-02 1.04525128e+02] [-5.67854506e-01 8.21961948e-01 -4.38157100e-02 -2.57547982e+01] [-8.07571448e-02 -2.65932572e-03 9.96730260e-01 -1.27554951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.976296757 meters 0.07809652253192041 Centerline is valid? [True, True] Translation: X:104.55, Y:-25.77, Z:-12.76 [[ 8.20632276e-01 5.67350780e-01 6.83795284e-02 1.04551442e+02] [-5.65635007e-01 8.23472608e-01 -4.41577152e-02 -2.57690287e+01] [-8.13615828e-02 -2.44060864e-03 9.96681662e-01 -1.27646472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.006296757 meters 0.07632224012536101 Centerline is valid? [True, True] Translation: X:104.57, Y:-25.79, Z:-12.76 [[ 8.22557450e-01 5.64562705e-01 6.83241761e-02 1.04573153e+02] [-5.62838628e-01 8.25387387e-01 -4.41400022e-02 -2.57949164e+01] [-8.13137123e-02 -2.14779782e-03 9.96686243e-01 -1.27613676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.036296757 meters 0.07672720569481316 Centerline is valid? [True, True] Translation: X:104.60, Y:-25.81, Z:-12.77 [[ 8.23091665e-01 5.63784676e-01 6.83150742e-02 1.04599011e+02] [-5.62056360e-01 8.25919267e-01 -4.41589458e-02 -2.58107743e+01] [-8.13188730e-02 -2.05006167e-03 9.96686028e-01 -1.27680866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.066296757 meters 0.07689427790469948 Centerline is valid? [True, True] Translation: X:104.62, Y:-25.83, Z:-12.77 [[ 8.22962567e-01 5.63888408e-01 6.90106977e-02 1.04623876e+02] [-5.62123074e-01 8.25848419e-01 -4.46322466e-02 -2.58285926e+01] [-8.21599821e-02 -2.06183737e-03 9.96617021e-01 -1.27731541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.096296757 meters 0.07704639889266326 Centerline is valid? [True, True] Translation: X:104.65, Y:-25.85, Z:-12.78 [[ 8.22469901e-01 5.64524301e-01 6.96819649e-02 1.04649984e+02] [-5.62724546e-01 8.25413714e-01 -4.50919850e-02 -2.58457549e+01] [-8.29719707e-02 -2.12495163e-03 9.96549616e-01 -1.27771855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.126296757 meters 0.07670259380307194 Centerline is valid? [True, True] Translation: X:104.68, Y:-25.87, Z:-12.78 [[ 8.21736623e-01 5.65567408e-01 6.98743814e-02 1.04676010e+02] [-5.63760179e-01 8.24699073e-01 -4.52316187e-02 -2.58651038e+01] [-8.32068670e-02 -2.22391613e-03 9.96529815e-01 -1.27777536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.156296757 meters 0.07744501061859461 Centerline is valid? [True, True] Translation: X:104.70, Y:-25.88, Z:-12.79 [[ 8.21017764e-01 5.66575362e-01 7.01583273e-02 1.04703556e+02] [-5.64756763e-01 8.24006625e-01 -4.54189367e-02 -2.58793457e+01] [-8.35441770e-02 -2.33263602e-03 9.96501344e-01 -1.27851364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18629675700001 meters 0.07754951643042098 Centerline is valid? [True, True] Translation: X:104.73, Y:-25.90, Z:-12.79 [[ 8.19952611e-01 5.68084940e-01 7.04075036e-02 1.04730043e+02] [-5.66256939e-01 8.22966203e-01 -4.56038112e-02 -2.58964560e+01] [-8.38498342e-02 -2.47577333e-03 9.96475326e-01 -1.27878840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21629675700001 meters 0.07874086965536613 Centerline is valid? [True, True] Translation: X:104.76, Y:-25.91, Z:-12.79 [[ 8.17906016e-01 5.71115092e-01 6.96943315e-02 1.04757291e+02] [-5.69333028e-01 8.20865428e-01 -4.51647230e-02 -2.59100400e+01] [-8.30039222e-02 -2.73878614e-03 9.96545457e-01 -1.27944149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24629675700001 meters 0.0790978318670429 Centerline is valid? [True, True] Translation: X:104.78, Y:-25.93, Z:-12.80 [[ 8.15387868e-01 5.74918261e-01 6.79088902e-02 1.04784351e+02] [-5.73237595e-01 8.18205258e-01 -4.40319857e-02 -2.59263473e+01] [-8.08782036e-02 -3.02478200e-03 9.96719402e-01 -1.27966277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27629675700001 meters 0.0798703072734795 Centerline is valid? [True, True] Translation: X:104.81, Y:-25.94, Z:-12.80 [[ 8.14043525e-01 5.76702716e-01 6.88993267e-02 1.04811283e+02] [-5.74978658e-01 8.16947636e-01 -4.46777543e-02 -2.59403183e+01] [-8.20529244e-02 -3.24600591e-03 9.96622687e-01 -1.28016485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30629675700001 meters 0.08011351078057571 Centerline is valid? [True, True] Translation: X:104.84, Y:-25.96, Z:-12.81 [[ 8.12663947e-01 5.78619020e-01 6.91183039e-02 1.04839152e+02] [-5.76889397e-01 8.15590722e-01 -4.48374662e-02 -2.59563435e+01] [-8.23160581e-02 -3.43582447e-03 9.96600352e-01 -1.28052923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.336296757 meters 0.08047870446898217 Centerline is valid? [True, True] Translation: X:104.87, Y:-25.97, Z:-12.81 [[ 8.10500000e-01 5.81519477e-01 7.01772613e-02 1.04866776e+02] [-5.79745028e-01 8.13523761e-01 -4.55498918e-02 -2.59723477e+01] [-8.35790188e-02 -3.76673107e-03 9.96494034e-01 -1.28082485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.366296757 meters 0.08080563357691195 Centerline is valid? [True, True] Translation: X:104.89, Y:-25.99, Z:-12.81 [[ 8.09775042e-01 5.82357965e-01 7.15791986e-02 1.04894190e+02] [-5.80512817e-01 8.12923070e-01 -4.64860410e-02 -2.59893991e+01] [-8.52598981e-02 -3.90940645e-03 9.96351076e-01 -1.28115412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.396296757 meters 0.08159586487602408 Centerline is valid? [True, True] Translation: X:104.92, Y:-26.00, Z:-12.82 [[ 8.08133523e-01 5.84640227e-01 7.15263165e-02 1.04920986e+02] [-5.82804513e-01 8.11282183e-01 -4.64770914e-02 -2.60041501e+01] [-8.52004035e-02 -4.12616437e-03 9.96355291e-01 -1.28166677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.426296757 meters 0.08159586487602408 Centerline is valid? [True, True] Translation: X:104.95, Y:-26.02, Z:-12.82 [[ 8.07968392e-01 5.84869714e-01 7.15157056e-02 1.04947922e+02] [-5.83033454e-01 8.11116733e-01 -4.64934117e-02 -2.60218132e+01] [-8.52001739e-02 -4.13084175e-03 9.96355291e-01 -1.28204323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.456296757 meters 0.0816794232056484 Centerline is valid? [True, True] Translation: X:104.97, Y:-26.04, Z:-12.82 [[ 8.07024898e-01 5.86198376e-01 7.12901011e-02 1.04974426e+02] [-5.84376309e-01 8.10156494e-01 -4.63765653e-02 -2.60394601e+01] [-8.49420056e-02 -4.23320322e-03 9.96376904e-01 -1.28247263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.486296757 meters 0.08258759362879635 Centerline is valid? [True, True] Translation: X:105.00, Y:-26.05, Z:-12.83 [[ 8.05277962e-01 5.88632251e-01 7.09892696e-02 1.05002483e+02] [-5.86832741e-01 8.08388690e-01 -4.62067087e-02 -2.60535998e+01] [-8.45856816e-02 -4.44958345e-03 9.96406274e-01 -1.28289092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.516296757 meters 0.08351073586787108 Centerline is valid? [True, True] Translation: X:105.03, Y:-26.07, Z:-12.83 [[ 8.04293854e-01 5.89914068e-01 7.15037630e-02 1.05029819e+02] [-5.88091304e-01 8.07452939e-01 -4.65657539e-02 -2.60677999e+01] [-8.52057169e-02 -4.59819150e-03 9.96352770e-01 -1.28340308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54629675700001 meters 0.08447142732358555 Centerline is valid? [True, True] Translation: X:105.06, Y:-26.08, Z:-12.84 [[ 8.03322074e-01 5.91136240e-01 7.23297374e-02 1.05057202e+02] [-5.89273934e-01 8.06557656e-01 -4.71272568e-02 -2.60838052e+01] [-8.61967329e-02 -4.76366324e-03 9.96266747e-01 -1.28386581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57629675700001 meters 0.08565717442920331 Centerline is valid? [True, True] Translation: X:105.08, Y:-26.10, Z:-12.84 [[ 8.02988992e-01 5.91534566e-01 7.27704320e-02 1.05084711e+02] [-5.89648881e-01 8.06265259e-01 -4.74397428e-02 -2.60986659e+01] [-8.67345189e-02 -4.81541250e-03 9.96219823e-01 -1.28439106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60629675700001 meters 0.08430607159544835 Centerline is valid? [True, True] Translation: X:105.11, Y:-26.12, Z:-12.85 [[ 8.02871212e-01 5.91576049e-01 7.37264957e-02 1.05109202e+02] [-5.89638026e-01 8.06234554e-01 -4.80920189e-02 -2.61204021e+01] [-8.78909349e-02 -4.86024792e-03 9.96118247e-01 -1.28453526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63629675700001 meters 0.08586096838009981 Centerline is valid? [True, True] Translation: X:105.80, Y:-25.37, Z:-11.84 [[ 8.92125127e-01 -4.35793104e-01 -1.19151703e-01 1.05795339e+02] [-4.29512365e-01 -8.99901950e-01 7.54692592e-02 -2.53730677e+01] [-1.40113833e-01 -1.61508925e-02 -9.90003668e-01 -1.18382749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66629675700001 meters 0.08340824308406386 Centerline is valid? [True, True] Translation: X:105.81, Y:-25.35, Z:-11.85 [[ 9.22816525e-01 -3.64314341e-01 -1.25238661e-01 1.05805728e+02] [-3.58582333e-01 -9.31131806e-01 6.64249199e-02 -2.53502983e+01] [-1.40813251e-01 -1.63896426e-02 -9.89900504e-01 -1.18453026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.696296757 meters 0.08262339856247118 Centerline is valid? [True, True] Translation: X:105.81, Y:-25.33, Z:-11.85 [[ 9.47744729e-01 -2.92142377e-01 -1.28190328e-01 1.05807422e+02] [-2.87229895e-01 -9.56241760e-01 5.56837848e-02 -2.53294657e+01] [-1.38848538e-01 -1.59539193e-02 -9.90185112e-01 -1.18497538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.726296757 meters 0.08254261913036286 Centerline is valid? [True, True] Translation: X:105.80, Y:-25.31, Z:-11.85 [[ 9.67421925e-01 -2.16765796e-01 -1.30795290e-01 1.05804699e+02] [-2.12621984e-01 -9.76096590e-01 4.50259739e-02 -2.53112892e+01] [-1.37428928e-01 -1.57491603e-02 -9.90386416e-01 -1.18537718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.756296757 meters 0.08140976942454932 Centerline is valid? [True, True] Translation: X:105.80, Y:-25.29, Z:-11.86 [[ 9.81251736e-01 -1.40599914e-01 -1.31820695e-01 1.05800304e+02] [-1.37255804e-01 -9.89946207e-01 3.41665361e-02 -2.52922545e+01] [-1.35299209e-01 -1.54328174e-02 -9.90684588e-01 -1.18588555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.786296757 meters 0.08137264698456564 Centerline is valid? [True, True] Translation: X:105.79, Y:-25.28, Z:-11.86 [[ 9.89091657e-01 -6.37922378e-02 -1.32771399e-01 1.05790206e+02] [-6.12011462e-02 -9.97848537e-01 2.35099435e-02 -2.52765202e+01] [-1.33985498e-01 -1.51277272e-02 -9.90867821e-01 -1.18605534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.816296757 meters 0.0820286995614443 Centerline is valid? [True, True] Translation: X:105.78, Y:-25.26, Z:-11.86 [[ 9.90833679e-01 1.48818001e-02 -1.34265235e-01 1.05778832e+02] [ 1.67698870e-02 -9.99775608e-01 1.29423532e-02 -2.52615777e+01] [-1.34042502e-01 -1.50753323e-02 -9.90860910e-01 -1.18612648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.846296757 meters 0.08117389477382668 Centerline is valid? [True, True] Translation: X:105.77, Y:-25.24, Z:-11.87 [[ 9.86458094e-01 9.40629138e-02 -1.34359950e-01 1.05766227e+02] [ 9.52362046e-02 -9.95452005e-01 2.31772005e-03 -2.52428400e+01] [-1.33530870e-01 -1.50822654e-02 -9.90929882e-01 -1.18665439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.876296757 meters 0.08116591731099741 Centerline is valid? [True, True] Translation: X:105.75, Y:-25.23, Z:-11.87 [[ 9.76119400e-01 1.72116907e-01 -1.32539380e-01 1.05752984e+02] [ 1.72576116e-01 -9.84962861e-01 -8.10224211e-03 -2.52316437e+01] [-1.31940900e-01 -1.49643757e-02 -9.91144624e-01 -1.18690575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.906296757 meters 0.08146038755851755 Centerline is valid? [True, True] Translation: X:105.74, Y:-25.22, Z:-11.87 [[ 9.59361902e-01 2.49852931e-01 -1.31142115e-01 1.05738101e+02] [ 2.49620628e-01 -9.68167438e-01 -1.84757723e-02 -2.52229658e+01] [-1.31583751e-01 -1.50108249e-02 -9.91191400e-01 -1.18711103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93629675700001 meters 0.08208376432587092 Centerline is valid? [True, True] Translation: X:105.72, Y:-25.21, Z:-11.87 [[ 9.36576282e-01 3.26066507e-01 -1.28473736e-01 1.05724058e+02] [ 3.25163899e-01 -9.45227039e-01 -2.85356663e-02 -2.52136862e+01] [-1.30741374e-01 -1.50491925e-02 -9.91302282e-01 -1.18722735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96629675700001 meters 0.08239462703662982 Centerline is valid? [True, True] Translation: X:105.93, Y:-26.21, Z:-12.89 [[ 9.67821661e-01 -2.35691466e-01 8.81519493e-02 1.05925989e+02] [ 2.34306045e-01 9.71817939e-01 2.58953854e-02 -2.62082818e+01] [-9.17709671e-02 -4.40758033e-03 9.95770387e-01 -1.28945782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99629675700001 meters 0.08189974188767775 Centerline is valid? [True, True] Translation: X:105.95, Y:-26.20, Z:-12.90 [[ 9.67829713e-01 -2.35428992e-01 8.87628133e-02 1.05954122e+02] [ 2.34022652e-01 9.71881279e-01 2.60802253e-02 -2.62016457e+01] [-9.24069577e-02 -4.46870801e-03 9.95711296e-01 -1.28964695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02629675700001 meters 0.08246411261569234 Centerline is valid? [True, True] Translation: X:105.98, Y:-26.19, Z:-12.90 [[ 9.68059670e-01 -2.34275918e-01 8.93043638e-02 1.05979933e+02] [ 2.32844784e-01 9.72159099e-01 2.62677036e-02 -2.61921860e+01] [-9.29719403e-02 -4.63464917e-03 9.95657942e-01 -1.29002835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05629675700001 meters 0.08301904159108067 Centerline is valid? [True, True] Translation: X:106.01, Y:-26.18, Z:-12.90 [[ 9.68137924e-01 -2.34009903e-01 8.91533856e-02 1.06006016e+02] [ 2.32581677e-01 9.72223041e-01 2.62320698e-02 -2.61818396e+01] [-9.28155398e-02 -4.66081763e-03 9.95672412e-01 -1.29045335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.086296757 meters 0.08193169523076296 Centerline is valid? [True, True] Translation: X:106.03, Y:-26.17, Z:-12.91 [[ 9.68321392e-01 -2.32656287e-01 9.06903155e-02 1.06033444e+02] [ 2.31171771e-01 9.72546780e-01 2.66903021e-02 -2.61740610e+01] [-9.44102409e-02 -4.87974966e-03 9.95521418e-01 -1.29067754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.116296757 meters 0.08316840151574068 Centerline is valid? [True, True] Translation: X:106.06, Y:-26.16, Z:-12.91 [[ 9.68290286e-01 -2.32225077e-01 9.21164222e-02 1.06058329e+02] [ 2.30688873e-01 9.72649092e-01 2.71364781e-02 -2.61616320e+01] [-9.58987251e-02 -5.02575456e-03 9.95378409e-01 -1.29107049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.146296757 meters 0.08226449053371652 Centerline is valid? [True, True] Translation: X:106.09, Y:-26.16, Z:-12.91 [[ 9.68442783e-01 -2.32350416e-01 9.01768267e-02 1.06087250e+02] [ 2.30876704e-01 9.72619647e-01 2.65888884e-02 -2.61567067e+01] [-9.38856926e-02 -4.93008854e-03 9.95570776e-01 -1.29131663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.176296757 meters 0.08276056855059306 Centerline is valid? [True, True] Translation: X:106.11, Y:-26.15, Z:-12.92 [[ 9.68332311e-01 -2.33398505e-01 8.86435130e-02 1.06113326e+02] [ 2.31976449e-01 9.72369457e-01 2.61642040e-02 -2.61483443e+01] [-9.23009307e-02 -4.77243682e-03 9.95719721e-01 -1.29181375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.206296757 meters 0.0810458689374147 Centerline is valid? [True, True] Translation: X:106.14, Y:-26.15, Z:-12.92 [[ 9.67514294e-01 -2.37173890e-01 8.75479091e-02 1.06144076e+02] [ 2.35801319e-01 9.71457397e-01 2.58507949e-02 -2.61467827e+01] [-9.11801975e-02 -4.36710112e-03 9.95824834e-01 -1.29204843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.236296757 meters 0.08076873669001505 Centerline is valid? [True, True] Translation: X:106.17, Y:-26.14, Z:-12.92 [[ 9.66892704e-01 -2.39619705e-01 8.77547521e-02 1.06172226e+02] [ 2.38250520e-01 9.70857968e-01 2.59132384e-02 -2.61391809e+01] [-9.14067228e-02 -4.14770581e-03 9.95805005e-01 -1.29239380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.266296757 meters 0.07998389831765783 Centerline is valid? [True, True] Translation: X:106.20, Y:-26.13, Z:-12.93 [[ 9.65676107e-01 -2.44711117e-01 8.70983658e-02 1.06200520e+02] [ 2.43382695e-01 9.69589196e-01 2.57226575e-02 -2.61340453e+01] [-9.07442547e-02 -3.64152071e-03 9.95867571e-01 -1.29277512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29629675700001 meters 0.07953044730574856 Centerline is valid? [True, True] Translation: X:106.23, Y:-26.13, Z:-12.93 [[ 9.65117944e-01 -2.47172561e-01 8.63312204e-02 1.06228794e+02] [ 2.45877411e-01 9.68965588e-01 2.54948772e-02 -2.61281504e+01] [-8.99536158e-02 -3.37866650e-03 9.95940225e-01 -1.29315790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32629675700001 meters 0.07836177306368179 Centerline is valid? [True, True] Translation: X:106.26, Y:-26.13, Z:-12.93 [[ 9.63578960e-01 -2.52775784e-01 8.72925624e-02 1.06259025e+02] [ 2.51471793e-01 9.67520490e-01 2.58077113e-02 -2.61259864e+01] [-9.09809072e-02 -2.91615039e-03 9.95848367e-01 -1.29340994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.35629675700001 meters 0.07743960324563987 Centerline is valid? [True, True] Translation: X:106.29, Y:-26.12, Z:-12.94 [[ 9.62820326e-01 -2.55877461e-01 8.66241571e-02 1.06288774e+02] [ 2.54606240e-01 9.66705730e-01 2.56065387e-02 -2.61232073e+01] [-9.02922051e-02 -2.59944494e-03 9.95911924e-01 -1.29351150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.38629675700001 meters 0.07674522343877958 Centerline is valid? [True, True] Translation: X:106.32, Y:-26.12, Z:-12.94 [[ 9.61327427e-01 -2.61194853e-01 8.73317078e-02 1.06317834e+02] [ 2.59921941e-01 9.65283712e-01 2.58445258e-02 -2.61196596e+01] [-9.10503322e-02 -2.14562448e-03 9.95843980e-01 -1.29378328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41629675700001 meters 0.07616463623813303 Centerline is valid? [True, True] Translation: X:106.35, Y:-26.11, Z:-12.94 [[ 9.60779253e-01 -2.62918553e-01 8.81876474e-02 1.06346951e+02] [ 2.61627804e-01 9.64815956e-01 2.60971760e-02 -2.61143818e+01] [-9.19462811e-02 -2.00128470e-03 9.95761958e-01 -1.29397740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.446296757 meters 0.07601096492478283 Centerline is valid? [True, True] Translation: X:106.37, Y:-26.11, Z:-12.94 [[ 9.60462840e-01 -2.64337944e-01 8.73875508e-02 1.06372927e+02] [ 2.63074198e-01 9.64428301e-01 2.58847310e-02 -2.61055862e+01] [-9.11213437e-02 -1.87191246e-03 9.95838037e-01 -1.29436363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.476296757 meters 0.0760410732585074 Centerline is valid? [True, True] Translation: X:106.40, Y:-26.10, Z:-12.95 [[ 9.60612466e-01 -2.63643793e-01 8.78387230e-02 1.06399931e+02] [ 2.62363575e-01 9.64618130e-01 2.60234057e-02 -2.60954418e+01] [-9.15917342e-02 -1.95272653e-03 9.95794728e-01 -1.29467483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.506296757 meters 0.07626077974287294 Centerline is valid? [True, True] Translation: X:106.43, Y:-26.08, Z:-12.95 [[ 9.61254969e-01 -2.61206226e-01 8.80919558e-02 1.06425790e+02] [ 2.59905944e-01 9.65280473e-01 2.61248584e-02 -2.60835757e+01] [-9.18574205e-02 -2.21702702e-03 9.95769702e-01 -1.29494511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.536296757 meters 0.07630650945136536 Centerline is valid? [True, True] Translation: X:106.45, Y:-26.07, Z:-12.95 [[ 9.61648519e-01 -2.59588883e-01 8.85761644e-02 1.06452894e+02] [ 2.58266903e-01 9.65716263e-01 2.62736768e-02 -2.60736697e+01] [-9.23597969e-02 -2.38975073e-03 9.95722831e-01 -1.29526933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.566296757 meters 0.07686684147720003 Centerline is valid? [True, True] Translation: X:106.48, Y:-26.06, Z:-12.96 [[ 9.62760705e-01 -2.55896423e-01 8.72286990e-02 1.06477800e+02] [ 2.54596983e-01 9.66700359e-01 2.58996496e-02 -2.60598694e+01] [-9.09516423e-02 -2.72700134e-03 9.95851576e-01 -1.29570648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.596296757 meters 0.07719823543956247 Centerline is valid? [True, True] Translation: X:106.50, Y:-26.05, Z:-12.96 [[ 9.63326197e-01 -2.54156380e-01 8.60649369e-02 1.06504662e+02] [ 2.52883806e-01 9.67158908e-01 2.55622234e-02 -2.60489882e+01] [-8.97352725e-02 -2.86033063e-03 9.95961545e-01 -1.29612553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.626296757 meters 0.07835044204640801 Centerline is valid? [True, True] Translation: X:106.53, Y:-26.03, Z:-12.97 [[ 9.64476265e-01 -2.50392422e-01 8.41972086e-02 1.06529644e+02] [ 2.49159861e-01 9.68139320e-01 2.50124300e-02 -2.60332368e+01] [-8.77775512e-02 -3.14533027e-03 9.96135136e-01 -1.29669556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.656296757 meters 0.07796932252981566 Centerline is valid? [True, True] Translation: X:106.56, Y:-26.02, Z:-12.97 [[ 9.64921239e-01 -2.48932138e-01 8.34253771e-02 1.06556641e+02] [ 2.47716533e-01 9.68515478e-01 2.47848424e-02 -2.60249712e+01] [-8.69685128e-02 -3.24957564e-03 9.96205761e-01 -1.29690762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.68629675700001 meters 0.0786964991869392 Centerline is valid? [True, True] Translation: X:106.58, Y:-26.01, Z:-12.98 [[ 9.65695955e-01 -2.45983884e-01 8.32060768e-02 1.06582988e+02] [ 2.44762958e-01 9.69267545e-01 2.47289297e-02 -2.60111853e+01] [-8.67318680e-02 -3.51486195e-03 9.96225491e-01 -1.29753244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.71629675700001 meters 0.07894644142977553 Centerline is valid? [True, True] Translation: X:106.61, Y:-26.00, Z:-12.98 [[ 9.65914422e-01 -2.45265653e-01 8.27894263e-02 1.06610009e+02] [ 2.44054533e-01 9.69449376e-01 2.46026686e-02 -2.60015349e+01] [-8.62943473e-02 -3.55893758e-03 9.96263328e-01 -1.29783679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.74629675700001 meters 0.07852702611468039 Centerline is valid? [True, True] Translation: X:106.64, Y:-25.99, Z:-12.98 [[ 9.65756383e-01 -2.46200531e-01 8.18529625e-02 1.06637280e+02] [ 2.45018329e-01 9.69212752e-01 2.43446222e-02 -2.59947449e+01] [-8.53265940e-02 -3.45549823e-03 9.96347044e-01 -1.29817940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.77629675700001 meters 0.0784204075075317 Centerline is valid? [True, True] Translation: X:106.66, Y:-25.99, Z:-12.99 [[ 9.65498810e-01 -2.46901300e-01 8.27755790e-02 1.06663274e+02] [ 2.45692190e-01 9.69034451e-01 2.46491663e-02 -2.59864968e+01] [-8.62982989e-02 -3.46142749e-03 9.96263330e-01 -1.29856379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.80629675700001 meters 0.07786999806060839 Centerline is valid? [True, True] Translation: X:106.69, Y:-25.98, Z:-12.99 [[ 9.65242562e-01 -2.47778354e-01 8.31425465e-02 1.06691690e+02] [ 2.46560947e-01 9.68810756e-01 2.47672693e-02 -2.59796745e+01] [-8.66861865e-02 -3.40671743e-03 9.96229843e-01 -1.29885344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.836296757 meters 0.07780338469293255 Centerline is valid? [True, True] Translation: X:106.72, Y:-25.97, Z:-12.99 [[ 9.64622387e-01 -2.49836071e-01 8.41759350e-02 1.06718085e+02] [ 2.48593517e-01 9.68282562e-01 2.51026459e-02 -2.59696446e+01] [-8.77776364e-02 -3.28898251e-03 9.96134664e-01 -1.29926353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.866296757 meters 0.07681807149495405 Centerline is valid? [True, True] Translation: X:106.75, Y:-25.96, Z:-12.99 [[ 9.63518083e-01 -2.53234494e-01 8.66325274e-02 1.06748002e+02] [ 2.51931125e-01 9.67400039e-01 2.58432413e-02 -2.59649838e+01] [-9.03527105e-02 -3.07500025e-03 9.95905082e-01 -1.29935875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.896296757 meters 0.07631243357401157 Centerline is valid? [True, True] Translation: X:106.78, Y:-25.96, Z:-13.00 [[ 9.63146997e-01 -2.54931521e-01 8.57775122e-02 1.06776084e+02] [ 2.53660845e-01 9.66954811e-01 2.55845534e-02 -2.59581687e+01] [-8.94652872e-02 -2.88328949e-03 9.95985767e-01 -1.29963893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.926296757 meters 0.076063788025249 Centerline is valid? [True, True] Translation: X:106.80, Y:-25.95, Z:-13.00 [[ 9.62750182e-01 -2.56494979e-01 8.55710974e-02 1.06804702e+02] [ 2.55234565e-01 9.66541642e-01 2.55454805e-02 -2.59519071e+01] [-8.92603165e-02 -2.75321419e-03 9.96004526e-01 -1.29991681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.956296757 meters 0.07537854273762348 Centerline is valid? [True, True] Translation: X:106.83, Y:-25.95, Z:-13.00 [[ 9.62058921e-01 -2.58914381e-01 8.60579755e-02 1.06831734e+02] [ 2.57646808e-01 9.65896860e-01 2.57172848e-02 -2.59460587e+01] [-8.97817031e-02 -2.56898054e-03 9.95958155e-01 -1.30032420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.986296757 meters 0.07495498621283395 Centerline is valid? [True, True] Translation: X:106.86, Y:-25.94, Z:-13.01 [[ 9.61814727e-01 -2.59913732e-01 8.57746100e-02 1.06859819e+02] [ 2.58658092e-01 9.65628678e-01 2.56368482e-02 -2.59391159e+01] [-8.94897921e-02 -2.47160111e-03 9.95984673e-01 -1.30057338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.016296757 meters 0.0747588980390806 Centerline is valid? [True, True] Translation: X:106.89, Y:-25.93, Z:-13.01 [[ 9.61719111e-01 -2.59627518e-01 8.76920967e-02 1.06886823e+02] [ 2.58311577e-01 9.65705393e-01 2.62340050e-02 -2.59305518e+01] [-9.14958003e-02 -2.57786024e-03 9.95802126e-01 -1.30102813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.04629675700001 meters 0.07492565567125514 Centerline is valid? [True, True] Translation: X:106.91, Y:-25.92, Z:-13.01 [[ 9.62238986e-01 -2.58285871e-01 8.59333661e-02 1.06914016e+02] [ 2.57014564e-01 9.66064824e-01 2.57345986e-02 -2.59214588e+01] [-8.96640854e-02 -2.67670741e-03 9.95968467e-01 -1.30133187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.07629675700001 meters 0.07501377860244604 Centerline is valid? [True, True] Translation: X:106.94, Y:-25.91, Z:-13.02 [[ 9.62787269e-01 -2.56172370e-01 8.61184725e-02 1.06939196e+02] [ 2.54886795e-01 9.66626817e-01 2.57937812e-02 -2.59111692e+01] [-8.98520789e-02 -2.88346266e-03 9.95950947e-01 -1.30177112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.10629675700001 meters 0.07529038547394878 Centerline is valid? [True, True] Translation: X:106.97, Y:-25.90, Z:-13.02 [[ 9.63360975e-01 -2.53899395e-01 8.64333785e-02 1.06965668e+02] [ 2.52594335e-01 9.67225611e-01 2.58982477e-02 -2.59012297e+01] [-9.01761267e-02 -3.11677938e-03 9.95920957e-01 -1.30207952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.13629675700001 meters 0.07663410578503785 Centerline is valid? [True, True] Translation: X:106.99, Y:-25.89, Z:-13.03 [[ 9.64967249e-01 -2.48408237e-01 8.44485436e-02 1.06992487e+02] [ 2.47140718e-01 9.68648907e-01 2.53132614e-02 -2.58868125e+01] [-8.80890121e-02 -3.55579446e-03 9.96106261e-01 -1.30267272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.16629675700001 meters 0.07761533626073822 Centerline is valid? [True, True] Translation: X:107.02, Y:-25.87, Z:-13.03 [[ 9.65598518e-01 -2.45779085e-01 8.49243381e-02 1.07018239e+02] [ 2.44487127e-01 9.69318356e-01 2.54552581e-02 -2.58739469e+01] [-8.85750898e-02 -3.81665208e-03 9.96062190e-01 -1.30309530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.196296757 meters 0.07747216751001246 Centerline is valid? [True, True] Translation: X:107.05, Y:-25.86, Z:-13.03 [[ 9.67146724e-01 -2.39904285e-01 8.41020130e-02 1.07046362e+02] [ 2.38614653e-01 9.70786944e-01 2.52142334e-02 -2.58638840e+01] [-8.76941388e-02 -4.31789061e-03 9.96138090e-01 -1.30319268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.226296757 meters 0.07996638242139452 Centerline is valid? [True, True] Translation: X:107.07, Y:-25.85, Z:-13.04 [[ 9.67773017e-01 -2.37265671e-01 8.43824017e-02 1.07071048e+02] [ 2.35957297e-01 9.71434034e-01 2.52996242e-02 -2.58478928e+01] [-8.79746692e-02 -4.57365021e-03 9.96112212e-01 -1.30373040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.256296757 meters 0.07798815207366348 Centerline is valid? [True, True] Translation: X:107.10, Y:-25.84, Z:-13.04 [[ 9.68842983e-01 -2.33550247e-01 8.24472970e-02 1.07101157e+02] [ 2.32287484e-01 9.72332872e-01 2.47246877e-02 -2.58431569e+01] [-8.59406740e-02 -4.80286507e-03 9.96288680e-01 -1.30372056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.286296757 meters 0.07996913104372334 Centerline is valid? [True, True] Translation: X:107.13, Y:-25.83, Z:-13.04 [[ 9.69239643e-01 -2.32416622e-01 8.09754834e-02 1.07126372e+02] [ 2.31194595e-01 9.72604398e-01 2.42846526e-02 -2.58296715e+01] [-8.44012682e-02 -4.81655387e-03 9.96420206e-01 -1.30431923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.316296757 meters 0.07878231023533541 Centerline is valid? [True, True] Translation: X:107.15, Y:-25.82, Z:-13.05 [[ 9.69159252e-01 -2.33105104e-01 7.99522055e-02 1.07153804e+02] [ 2.31916136e-01 9.72440206e-01 2.39781575e-02 -2.58246974e+01] [-8.33381701e-02 -4.69644665e-03 9.96510257e-01 -1.30455475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.346296757 meters 0.07835993604577844 Centerline is valid? [True, True] Translation: X:107.18, Y:-25.82, Z:-13.05 [[ 9.69003955e-01 -2.33943719e-01 7.93830680e-02 1.07181597e+02] [ 2.32772333e-01 9.72239182e-01 2.38330350e-02 -2.58176783e+01] [-8.27549180e-02 -4.61612322e-03 9.96559238e-01 -1.30491692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.376296757 meters 0.07835993604577844 Centerline is valid? [True, True] Translation: X:107.21, Y:-25.81, Z:-13.05 [[ 9.68937538e-01 -2.34220566e-01 7.93774109e-02 1.07207910e+02] [ 2.33048567e-01 9.72172544e-01 2.38518590e-02 -2.58096626e+01] [-8.27551353e-02 -4.61216972e-03 9.96559238e-01 -1.30522510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.406296757 meters 0.07785814135506348 Centerline is valid? [True, True] Translation: X:107.24, Y:-25.80, Z:-13.06 [[ 9.68084834e-01 -2.37559275e-01 7.98582765e-02 1.07235754e+02] [ 2.36381583e-01 9.71363147e-01 2.40288032e-02 -2.58028364e+01] [-8.32796519e-02 -4.38489416e-03 9.96516569e-01 -1.30559565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.43629675700001 meters 0.07717090076477297 Centerline is valid? [True, True] Translation: X:107.26, Y:-25.80, Z:-13.06 [[ 9.67482189e-01 -2.39717906e-01 8.07065003e-02 1.07264895e+02] [ 2.38522210e-01 9.70833295e-01 2.42871906e-02 -2.57966419e+01] [-8.41746321e-02 -4.24713146e-03 9.96441967e-01 -1.30588611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.46629675700001 meters 0.07673337297670148 Centerline is valid? [True, True] Translation: X:107.29, Y:-25.79, Z:-13.06 [[ 9.66700172e-01 -2.42519167e-01 8.17020860e-02 1.07293254e+02] [ 2.41303403e-01 9.70138135e-01 2.45899545e-02 -2.57903353e+01] [-8.52258447e-02 -4.05612182e-03 9.96353403e-01 -1.30620288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.49629675700001 meters 0.07486398143425708 Centerline is valid? [True, True] Translation: X:107.32, Y:-25.79, Z:-13.07 [[ 9.64887749e-01 -2.49051969e-01 8.34550704e-02 1.07323742e+02] [ 2.47807348e-01 9.68483586e-01 2.51209422e-02 -2.57889806e+01] [-8.70812859e-02 -3.55810968e-03 9.96194855e-01 -1.30652983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.52629675700001 meters 0.07350233002757413 Centerline is valid? [True, True] Translation: X:107.35, Y:-25.79, Z:-13.07 [[ 9.63257249e-01 -2.55361495e-01 8.32224692e-02 1.07354706e+02] [ 2.54146998e-01 9.66841048e-01 2.50537710e-02 -2.57879817e+01] [-8.68606677e-02 -2.98248575e-03 9.96216005e-01 -1.30700958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.55629675700001 meters 0.07306959153043191 Centerline is valid? [True, True] Translation: X:107.38, Y:-25.78, Z:-13.07 [[ 9.62387972e-01 -2.58852066e-01 8.24924215e-02 1.07383070e+02] [ 2.57671565e-01 9.65913358e-01 2.48344501e-02 -2.57835853e+01] [-8.61089806e-02 -2.64442475e-03 9.96282214e-01 -1.30733790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.586296757 meters 0.0722099214597416 Centerline is valid? [True, True] Translation: X:107.41, Y:-25.78, Z:-13.08 [[ 9.60969290e-01 -2.64334766e-01 8.16404020e-02 1.07413606e+02] [ 2.63197693e-01 9.64428619e-01 2.45848094e-02 -2.57824664e+01] [-8.52349600e-02 -2.13768137e-03 9.96358586e-01 -1.30769098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.616296757 meters 0.07217421671042833 Centerline is valid? [True, True] Translation: X:107.44, Y:-25.78, Z:-13.08 [[ 9.60375351e-01 -2.66750806e-01 8.07662800e-02 1.07440901e+02] [ 2.65646392e-01 9.63763655e-01 2.43230793e-02 -2.57766132e+01] [-8.43278063e-02 -1.90401496e-03 9.96436248e-01 -1.30815111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.646296757 meters 0.0712931331640817 Centerline is valid? [True, True] Translation: X:107.47, Y:-25.78, Z:-13.08 [[ 9.59216607e-01 -2.70373203e-01 8.24732253e-02 1.07471741e+02] [ 2.69234073e-01 9.62754216e-01 2.48462105e-02 -2.57764502e+01] [-8.61191948e-02 -1.62829539e-03 9.96283510e-01 -1.30828299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.676296757 meters 0.0710445065357199 Centerline is valid? [True, True] Translation: X:107.50, Y:-25.77, Z:-13.09 [[ 9.58723900e-01 -2.72210376e-01 8.21583491e-02 1.07500224e+02] [ 2.71086892e-01 9.62236662e-01 2.47488051e-02 -2.57702819e+01] [-8.57926572e-02 -1.45521944e-03 9.96311950e-01 -1.30866185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.706296757 meters 0.07087913570095469 Centerline is valid? [True, True] Translation: X:107.53, Y:-25.76, Z:-13.09 [[ 9.58420256e-01 -2.73168341e-01 8.25207252e-02 1.07528294e+02] [ 2.72036538e-01 9.61965231e-01 2.48800246e-02 -2.57632276e+01] [-8.61785036e-02 -1.39686716e-03 9.96278733e-01 -1.30894452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.736296757 meters 0.07079326676606684 Centerline is valid? [True, True] Translation: X:107.56, Y:-25.76, Z:-13.09 [[ 9.58139470e-01 -2.73770960e-01 8.37748021e-02 1.07557282e+02] [ 2.72604764e-01 9.61793920e-01 2.52803975e-02 -2.57581719e+01] [-8.74951340e-02 -1.38473646e-03 9.96163985e-01 -1.30921148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.766296757 meters 0.07085838631418023 Centerline is valid? [True, True] Translation: X:107.59, Y:-25.75, Z:-13.09 [[ 9.58149190e-01 -2.73812453e-01 8.35276598e-02 1.07585469e+02] [ 2.72651366e-01 9.61782088e-01 2.52279021e-02 -2.57508510e+01] [-8.72431209e-02 -1.39816344e-03 9.96186068e-01 -1.30946833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.79629675700001 meters 0.07100579233532925 Centerline is valid? [True, True] Translation: X:107.61, Y:-25.74, Z:-13.10 [[ 9.59017064e-01 -2.71130214e-01 8.23084256e-02 1.07613137e+02] [ 2.69990696e-01 9.62541274e-01 2.48861232e-02 -2.57430932e+01] [-8.59726368e-02 -1.64370772e-03 9.96296143e-01 -1.30986524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.82629675700001 meters 0.07102546275688136 Centerline is valid? [True, True] Translation: X:107.64, Y:-25.73, Z:-13.10 [[ 9.59350298e-01 -2.70123292e-01 8.17337878e-02 1.07641007e+02] [ 2.68996071e-01 9.62824202e-01 2.47117148e-02 -2.57349884e+01] [-8.53704788e-02 -1.72112317e-03 9.96347790e-01 -1.31027244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.85629675700001 meters 0.07128609939187107 Centerline is valid? [True, True] Translation: X:107.67, Y:-25.73, Z:-13.11 [[ 9.60542011e-01 -2.66095107e-01 8.09471340e-02 1.07669022e+02] [ 2.64972953e-01 9.63944524e-01 2.45007762e-02 -2.57257628e+01] [-8.45480832e-02 -2.08522370e-03 9.96417219e-01 -1.31086321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.88629675700001 meters 0.07149454936715581 Centerline is valid? [True, True] Translation: X:107.70, Y:-25.72, Z:-13.11 [[ 9.60955791e-01 -2.64645654e-01 8.07876595e-02 1.07696137e+02] [ 2.63523068e-01 9.64343203e-01 2.44495239e-02 -2.57169748e+01] [-8.43774906e-02 -2.20549969e-03 9.96431420e-01 -1.31120049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.91629675700001 meters 0.07214634806438149 Centerline is valid? [True, True] Translation: X:107.72, Y:-25.71, Z:-13.12 [[ 9.61897746e-01 -2.60975053e-01 8.15153198e-02 1.07722506e+02] [ 2.59816649e-01 9.65342106e-01 2.46966890e-02 -2.57076533e+01] [-8.51353903e-02 -2.57665224e-03 9.96366060e-01 -1.31163182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.946296757 meters 0.0723431947272432 Centerline is valid? [True, True] Translation: X:107.75, Y:-25.70, Z:-13.12 [[ 9.61783495e-01 -2.60631701e-01 8.39263054e-02 1.07750068e+02] [ 2.59402087e-01 9.65434563e-01 2.54295247e-02 -2.56993247e+01] [-8.76530963e-02 -2.68703837e-03 9.96147436e-01 -1.31185995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.976296757 meters 0.072749020381875 Centerline is valid? [True, True] Translation: X:107.78, Y:-25.69, Z:-13.12 [[ 9.62136074e-01 -2.59057727e-01 8.47541663e-02 1.07777993e+02] [ 2.57795605e-01 9.65857546e-01 2.57026744e-02 -2.56915667e+01] [-8.85189275e-02 -2.88021864e-03 9.96070331e-01 -1.31213968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.006296757 meters 0.07298743442388554 Centerline is valid? [True, True] Translation: X:107.81, Y:-25.68, Z:-13.12 [[ 9.62080473e-01 -2.58739492e-01 8.63425696e-02 1.07805601e+02] [ 2.57426125e-01 9.65942521e-01 2.62075707e-02 -2.56833513e+01] [-9.01828929e-02 -2.98695892e-03 9.95920742e-01 -1.31244088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.036296757 meters 0.07304026411116517 Centerline is valid? [True, True] Translation: X:107.83, Y:-25.68, Z:-13.13 [[ 9.62149094e-01 -2.58219375e-01 8.71313686e-02 1.07833449e+02] [ 2.56877819e-01 9.66081386e-01 2.64677464e-02 -2.56760118e+01] [-9.10104783e-02 -3.08380230e-03 9.95845160e-01 -1.31272851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.066296757 meters 0.07278687171196271 Centerline is valid? [True, True] Translation: X:107.86, Y:-25.67, Z:-13.13 [[ 9.62492027e-01 -2.56602926e-01 8.81137737e-02 1.07862320e+02] [ 2.55221967e-01 9.66511290e-01 2.67894220e-02 -2.56702275e+01] [-9.20372012e-02 -3.29603446e-03 9.95750114e-01 -1.31291303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.096296757 meters 0.07413286212210567 Centerline is valid? [True, True] Translation: X:107.89, Y:-25.66, Z:-13.13 [[ 9.62547955e-01 -2.55715090e-01 9.00623578e-02 1.07887112e+02] [ 2.54266033e-01 9.66745924e-01 2.74062388e-02 -2.56588164e+01] [-9.40756062e-02 -3.48002059e-03 9.95558974e-01 -1.31338048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.126296757 meters 0.07449096466357605 Centerline is valid? [True, True] Translation: X:107.91, Y:-25.65, Z:-13.14 [[ 9.62956633e-01 -2.54257236e-01 8.98208268e-02 1.07914428e+02] [ 2.52806946e-01 9.67129777e-01 2.73613479e-02 -2.56498011e+01] [-9.38252168e-02 -3.64046256e-03 9.95582029e-01 -1.31374796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.156296757 meters 0.07402551747140065 Centerline is valid? [True, True] Translation: X:107.94, Y:-25.64, Z:-13.14 [[ 9.63027106e-01 -2.53839725e-01 9.02451530e-02 1.07942813e+02] [ 2.52371611e-01 9.67239135e-01 2.75141013e-02 -2.56439070e+01] [-9.42728157e-02 -3.72151067e-03 9.95539445e-01 -1.31392454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.18629675700001 meters 0.07465059412323 Centerline is valid? [True, True] Translation: X:107.97, Y:-25.63, Z:-13.14 [[ 9.63563627e-01 -2.51707131e-01 9.04911993e-02 1.07970481e+02] [ 2.50218971e-01 9.67795317e-01 2.76168628e-02 -2.56349840e+01] [-9.45283202e-02 -3.96798974e-03 9.95514265e-01 -1.31421426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.21629675700001 meters 0.07624877258481419 Centerline is valid? [True, True] Translation: X:108.00, Y:-25.62, Z:-13.15 [[ 9.64171530e-01 -2.49209628e-01 9.09275650e-02 1.07996626e+02] [ 2.47695278e-01 9.68440282e-01 2.77573413e-02 -2.56226688e+01] [-9.49753134e-02 -4.24050980e-03 9.95470596e-01 -1.31455732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.24629675700001 meters 0.07629826139847111 Centerline is valid? [True, True] Translation: X:108.02, Y:-25.61, Z:-13.15 [[ 9.64047538e-01 -2.49224671e-01 9.21922373e-02 1.08023550e+02] [ 2.47667414e-01 9.68436135e-01 2.81478838e-02 -2.56139890e+01] [-9.62974411e-02 -4.30288499e-03 9.95343302e-01 -1.31482987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.27629675700001 meters 0.07485296540627509 Centerline is valid? [True, True] Translation: X:108.05, Y:-25.61, Z:-13.15 [[ 9.64104364e-01 -2.49349909e-01 9.12545758e-02 1.08051915e+02] [ 2.47821965e-01 9.68404019e-01 2.78913875e-02 -2.56097626e+01] [-9.53260129e-02 -4.27532017e-03 9.95436926e-01 -1.31503823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.30629675700001 meters 0.07679228715845847 Centerline is valid? [True, True] Translation: X:108.08, Y:-25.60, Z:-13.15 [[ 9.64044715e-01 -2.49416213e-01 9.17024576e-02 1.08075307e+02] [ 2.47872262e-01 9.68386825e-01 2.80410258e-02 -2.55960097e+01] [-9.57973382e-02 -4.30230711e-03 9.95391561e-01 -1.31546455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.336296757 meters 0.07715790205183262 Centerline is valid? [True, True] Translation: X:108.10, Y:-25.59, Z:-13.16 [[ 9.64026788e-01 -2.49380786e-01 9.19868185e-02 1.08100642e+02] [ 2.47824990e-01 9.68395780e-01 2.81493819e-02 -2.55869865e+01] [-9.60995618e-02 -4.34012583e-03 9.95362264e-01 -1.31581295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.366296757 meters 0.07597076380784336 Centerline is valid? [True, True] Translation: X:108.13, Y:-25.58, Z:-13.16 [[ 9.64422054e-01 -2.48276481e-01 9.08234019e-02 1.08128826e+02] [ 2.46753856e-01 9.68679194e-01 2.78056250e-02 -2.55819468e+01] [-9.48822226e-02 -4.40533339e-03 9.95478758e-01 -1.31607006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.396296757 meters 0.07593399375036976 Centerline is valid? [True, True] Translation: X:108.16, Y:-25.57, Z:-13.16 [[ 9.64514961e-01 -2.48475960e-01 8.92781502e-02 1.08156237e+02] [ 2.47005180e-01 9.68628448e-01 2.73380690e-02 -2.55729360e+01] [-9.32702091e-02 -4.31581098e-03 9.95631479e-01 -1.31645610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.426296757 meters 0.07683086337610256 Centerline is valid? [True, True] Translation: X:108.18, Y:-25.56, Z:-13.17 [[ 9.64993376e-01 -2.46788364e-01 8.87878775e-02 1.08181676e+02] [ 2.45323976e-01 9.69059037e-01 2.72163568e-02 -2.55600703e+01] [-9.27573752e-02 -4.48180888e-03 9.95678654e-01 -1.31707155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.456296757 meters 0.07657495839152968 Centerline is valid? [True, True] Translation: X:108.21, Y:-25.55, Z:-13.17 [[ 9.64911869e-01 -2.47119523e-01 8.87526193e-02 1.08207594e+02] [ 2.45657643e-01 9.68974793e-01 2.72061088e-02 -2.55508551e+01] [-9.27222115e-02 -4.44873802e-03 9.95682078e-01 -1.31738624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.486296757 meters 0.07657251534731174 Centerline is valid? [True, True] Translation: X:108.23, Y:-25.54, Z:-13.18 [[ 9.64957293e-01 -2.46756380e-01 8.92676356e-02 1.08234057e+02] [ 2.45273166e-01 9.69066919e-01 2.73930721e-02 -2.55398933e+01] [-9.32657279e-02 -4.53818916e-03 9.95630910e-01 -1.31773679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.516296757 meters 0.07680621013639925 Centerline is valid? [True, True] Translation: X:108.26, Y:-25.53, Z:-13.18 [[ 9.64969639e-01 -2.46343781e-01 9.02681385e-02 1.08260226e+02] [ 2.44822594e-01 9.69171323e-01 2.77280378e-02 -2.55305201e+01] [-9.43159209e-02 -4.65703481e-03 9.95531425e-01 -1.31790794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54629675700001 meters 0.07705045470281571 Centerline is valid? [True, True] Translation: X:108.29, Y:-25.52, Z:-13.18 [[ 9.64867682e-01 -2.46039472e-01 9.21679687e-02 1.08286002e+02] [ 2.44451424e-01 9.69247963e-01 2.83176282e-02 -2.55197132e+01] [-9.63008702e-02 -4.79217309e-03 9.95340734e-01 -1.31797276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.57629675700001 meters 0.07715023531904175 Centerline is valid? [True, True] Translation: X:108.31, Y:-25.51, Z:-13.18 [[ 9.64697421e-01 -2.46031087e-01 9.39552543e-02 1.08313407e+02] [ 2.44377488e-01 9.69249462e-01 2.88985025e-02 -2.55090551e+01] [-9.81760097e-02 -4.91776189e-03 9.95156916e-01 -1.31817034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60629675700001 meters 0.07725479267164495 Centerline is valid? [True, True] Translation: X:108.34, Y:-25.50, Z:-13.18 [[ 9.64805157e-01 -2.44958242e-01 9.56371687e-02 1.08339459e+02] [ 2.43238032e-01 9.69520049e-01 2.94301806e-02 -2.54970057e+01] [-9.99313177e-02 -5.13179337e-03 9.94981104e-01 -1.31831120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63629675700001 meters 0.0778841879031333 Centerline is valid? [True, True] Translation: X:108.37, Y:-25.49, Z:-13.19 [[ 9.64988727e-01 -2.43861815e-01 9.65824599e-02 1.08365595e+02] [ 2.42100368e-01 9.69795441e-01 2.97357332e-02 -2.54855962e+01] [-1.00916639e-01 -5.31199830e-03 9.94880704e-01 -1.31855670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66629675700001 meters 0.07829266646229098 Centerline is valid? [True, True] Translation: X:108.39, Y:-25.48, Z:-13.19 [[ 9.65206251e-01 -2.42814935e-01 9.70453561e-02 1.08392553e+02] [ 2.41030463e-01 9.70057291e-01 2.98859072e-02 -2.54751339e+01] [-1.01396300e-01 -5.45517728e-03 9.94831157e-01 -1.31887510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.696296757 meters 0.07867398628231165 Centerline is valid? [True, True] Translation: X:108.42, Y:-25.46, Z:-13.19 [[ 9.65798972e-01 -2.41833682e-01 9.35350996e-02 1.08419618e+02] [ 2.40169170e-01 9.70302794e-01 2.88315375e-02 -2.54643260e+01] [-9.77298054e-02 -5.38122206e-03 9.95198436e-01 -1.31928655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.726296757 meters 0.0790652094599459 Centerline is valid? [True, True] Translation: X:108.44, Y:-25.45, Z:-13.20 [[ 9.66143792e-01 -2.41481079e-01 9.08463658e-02 1.08444787e+02] [ 2.39908947e-01 9.70391236e-01 2.80097460e-02 -2.54527155e+01] [-9.49203409e-02 -5.26658623e-03 9.95470940e-01 -1.32000352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.756296757 meters 0.08011796174222435 Centerline is valid? [True, True] Translation: X:108.47, Y:-25.44, Z:-13.21 [[ 9.66107915e-01 -2.41887948e-01 9.01427565e-02 1.08469699e+02] [ 2.40341094e-01 9.70290287e-01 2.78013817e-02 -2.54407164e+01] [-9.41894603e-02 -5.19412612e-03 9.95540741e-01 -1.32051435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.786296757 meters 0.07897810145551383 Centerline is valid? [True, True] Translation: X:108.50, Y:-25.43, Z:-13.21 [[ 9.65894608e-01 -2.42788117e-01 9.00085352e-02 1.08497548e+02] [ 2.41249233e-01 9.70065914e-01 2.77656231e-02 -2.54333161e+01] [-9.40553753e-02 -5.10417550e-03 9.95553883e-01 -1.32082200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.816296757 meters 0.07668457743842652 Centerline is valid? [True, True] Translation: X:108.53, Y:-25.43, Z:-13.21 [[ 9.65515243e-01 -2.44616089e-01 8.91251111e-02 1.08527232e+02] [ 2.43112891e-01 9.69607630e-01 2.75166444e-02 -2.54293869e+01] [-9.31474017e-02 -4.90027617e-03 9.95640271e-01 -1.32095736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.846296757 meters 0.07817374595266856 Centerline is valid? [True, True] Translation: X:108.55, Y:-25.42, Z:-13.21 [[ 9.65234139e-01 -2.45942464e-01 8.85175772e-02 1.08552140e+02] [ 2.44463011e-01 9.69272725e-01 2.73536442e-02 -2.54160272e+01] [-9.25250959e-02 -4.76339772e-03 9.95698959e-01 -1.32143262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.876296757 meters 0.07826292780691178 Centerline is valid? [True, True] Translation: X:108.58, Y:-25.40, Z:-13.22 [[ 9.65075979e-01 -2.46624113e-01 8.83453561e-02 1.08577472e+02] [ 2.45152008e-01 9.69099808e-01 2.73140173e-02 -2.54049021e+01] [-9.23517629e-02 -4.70206050e-03 9.95715342e-01 -1.32175663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.906296757 meters 0.07811210712300919 Centerline is valid? [True, True] Translation: X:108.60, Y:-25.39, Z:-13.22 [[ 9.64903836e-01 -2.47308234e-01 8.83132212e-02 1.08603938e+02] [ 2.45839578e-01 9.68925750e-01 2.73092109e-02 -2.53945946e+01] [-9.23227468e-02 -4.63987737e-03 9.95718325e-01 -1.32205763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93629675700001 meters 0.07547657129764837 Centerline is valid? [True, True] Translation: X:108.63, Y:-25.39, Z:-13.22 [[ 9.64703038e-01 -2.47982989e-01 8.86142468e-02 1.08632350e+02] [ 2.46505025e-01 9.68753405e-01 2.74246908e-02 -2.53889892e+01] [-9.26462101e-02 -4.61282541e-03 9.95688406e-01 -1.32208619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96629675700001 meters 0.07504601972876807 Centerline is valid? [True, True] Translation: X:108.66, Y:-25.38, Z:-13.22 [[ 9.64448698e-01 -2.49265526e-01 8.77804496e-02 1.08659418e+02] [ 2.47818403e-01 9.68424863e-01 2.71905263e-02 -2.53805025e+01] [-9.17864307e-02 -4.47025683e-03 9.95768682e-01 -1.32238932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99629675700001 meters 0.07486729767249681 Centerline is valid? [True, True] Translation: X:108.69, Y:-25.37, Z:-13.23 [[ 9.63957781e-01 -2.51057785e-01 8.80646627e-02 1.08686599e+02] [ 2.49606407e-01 9.67962382e-01 2.73032682e-02 -2.53712408e+01] [-9.20979787e-02 -4.33769381e-03 9.95740502e-01 -1.32257140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02629675700001 meters 0.07429499379117811 Centerline is valid? [True, True] Translation: X:108.71, Y:-25.36, Z:-13.23 [[ 9.63750472e-01 -2.51864733e-01 8.80294483e-02 1.08714463e+02] [ 2.50415830e-01 9.67752983e-01 2.73144071e-02 -2.53641416e+01] [-9.20702969e-02 -4.28030536e-03 9.95743310e-01 -1.32274095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05629675700001 meters 0.07426005656486215 Centerline is valid? [True, True] Translation: X:108.74, Y:-25.35, Z:-13.23 [[ 9.63700120e-01 -2.51986182e-01 8.82328871e-02 1.08740307e+02] [ 2.50528489e-01 9.67721254e-01 2.74052984e-02 -2.53543521e+01] [-9.22905967e-02 -4.30563741e-03 9.95722806e-01 -1.32298675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.086296757 meters 0.07549048499861939 Centerline is valid? [True, True] Translation: X:108.76, Y:-25.34, Z:-13.24 [[ 9.63993332e-01 -2.51039287e-01 8.77276076e-02 1.08763655e+02] [ 2.49593694e-01 9.67966997e-01 2.72558196e-02 -2.53380416e+01] [-9.17597104e-02 -4.37817067e-03 9.95771554e-01 -1.32354966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.116296757 meters 0.07949555690461726 Centerline is valid? [True, True] Translation: X:108.79, Y:-25.31, Z:-13.24 [[ 9.64408500e-01 -2.49926216e-01 8.63315188e-02 1.08785635e+02] [ 2.48520661e-01 9.68254769e-01 2.68362318e-02 -2.53148711e+01] [-9.02979827e-02 -4.42592396e-03 9.95904958e-01 -1.32430196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.146296757 meters 0.07429695936560414 Centerline is valid? [True, True] Translation: X:108.82, Y:-25.32, Z:-13.24 [[ 9.64407686e-01 -2.49938662e-01 8.63045779e-02 1.08817899e+02] [ 2.48534190e-01 9.68251576e-01 2.68261504e-02 -2.53182565e+01] [-9.02694356e-02 -4.42170730e-03 9.95907565e-01 -1.32401040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.176296757 meters 0.07376688249945788 Centerline is valid? [True, True] Translation: X:108.85, Y:-25.31, Z:-13.24 [[ 9.64467264e-01 -2.50258803e-01 8.46960898e-02 1.08846049e+02] [ 2.48905555e-01 9.68169290e-01 2.63486497e-02 -2.53106849e+01] [-8.85941347e-02 -4.33108290e-03 9.96058392e-01 -1.32420720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.206296757 meters 0.07383269501612343 Centerline is valid? [True, True] Translation: X:108.87, Y:-25.30, Z:-13.25 [[ 9.64226805e-01 -2.51349905e-01 8.42015067e-02 1.08872099e+02] [ 2.50014549e-01 9.67887052e-01 2.62179217e-02 -2.52986208e+01] [-8.80874203e-02 -4.22842114e-03 9.96103773e-01 -1.32463705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.236296757 meters 0.07354219496020106 Centerline is valid? [True, True] Translation: X:108.90, Y:-25.29, Z:-13.25 [[ 9.64046671e-01 -2.52321789e-01 8.33530478e-02 1.08899416e+02] [ 2.51014665e-01 9.67634601e-01 2.59791461e-02 -2.52884198e+01] [-8.72103979e-02 -4.12227195e-03 9.96181386e-01 -1.32505345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.266296757 meters 0.07354219496020106 Centerline is valid? [True, True] Translation: X:108.93, Y:-25.28, Z:-13.25 [[ 9.63975544e-01 -2.52594197e-01 8.33505946e-02 1.08925626e+02] [ 2.51287409e-01 9.67563597e-01 2.59870157e-02 -2.52801304e+01] [-8.72111705e-02 -4.10589265e-03 9.96181386e-01 -1.32536207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29629675700001 meters 0.07348461552784986 Centerline is valid? [True, True] Translation: X:108.95, Y:-25.27, Z:-13.26 [[ 9.63645828e-01 -2.54492232e-01 8.13659748e-02 1.08951074e+02] [ 2.53251626e-01 9.67067096e-01 2.53938037e-02 -2.52675036e+01] [-8.51488828e-02 -3.86456763e-03 9.96360744e-01 -1.32598099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32629675700001 meters 0.07276280512238611 Centerline is valid? [True, True] Translation: X:108.98, Y:-25.26, Z:-13.26 [[ 9.63450205e-01 -2.55353366e-01 8.09837130e-02 1.08978811e+02] [ 2.54125609e-01 9.66840361e-01 2.52960759e-02 -2.52595688e+01] [-8.47577604e-02 -3.79147406e-03 9.96394373e-01 -1.32616895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35629675700001 meters 0.07219278644765137 Centerline is valid? [True, True] Translation: X:109.01, Y:-25.25, Z:-13.26 [[ 9.62946912e-01 -2.56846412e-01 8.22384702e-02 1.09005894e+02] [ 2.55583226e-01 9.66444980e-01 2.57160402e-02 -2.52490949e+01] [-8.60840293e-02 -3.74440799e-03 9.96280844e-01 -1.32628893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38629675700001 meters 0.07166724444094878 Centerline is valid? [True, True] Translation: X:109.03, Y:-25.24, Z:-13.26 [[ 9.62693639e-01 -2.57771946e-01 8.23078417e-02 1.09033515e+02] [ 2.56509853e-01 9.66198832e-01 2.57393391e-02 -2.52407521e+01] [-8.61606200e-02 -3.66632568e-03 9.96274513e-01 -1.32644207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41629675700001 meters 0.07168157755805335 Centerline is valid? [True, True] Translation: X:109.06, Y:-25.23, Z:-13.27 [[ 9.62255691e-01 -2.59153651e-01 8.30865236e-02 1.09059388e+02] [ 2.57870246e-01 9.65829386e-01 2.60102435e-02 -2.52307132e+01] [-8.69880557e-02 -3.60296256e-03 9.96202839e-01 -1.32675128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.446296757 meters 0.07139147800050889 Centerline is valid? [True, True] Translation: X:109.09, Y:-25.22, Z:-13.27 [[ 9.61748631e-01 -2.61301539e-01 8.22257608e-02 1.09086846e+02] [ 2.60052145e-01 9.65251316e-01 2.57444918e-02 -2.52210399e+01] [-8.60955991e-02 -3.37674433e-03 9.96281158e-01 -1.32702982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.476296757 meters 0.07101234724849705 Centerline is valid? [True, True] Translation: X:109.11, Y:-25.21, Z:-13.27 [[ 9.61135920e-01 -2.63701816e-01 8.17257291e-02 1.09114399e+02] [ 2.62474371e-01 9.64599059e-01 2.56097715e-02 -2.52126999e+01] [-8.55859047e-02 -3.16356195e-03 9.96325772e-01 -1.32733439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.506296757 meters 0.07122223749378118 Centerline is valid? [True, True] Translation: X:109.14, Y:-25.20, Z:-13.28 [[ 9.61000661e-01 -2.64484686e-01 8.07810680e-02 1.09139287e+02] [ 2.63286331e-01 9.64384967e-01 2.53365993e-02 -2.52035864e+01] [-8.46051901e-02 -3.07993765e-03 9.96409793e-01 -1.32768898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.536296757 meters 0.07138626203002474 Centerline is valid? [True, True] Translation: X:109.17, Y:-25.19, Z:-13.28 [[ 9.60631787e-01 -2.65887860e-01 8.05618745e-02 1.09166836e+02] [ 2.64699589e-01 9.63999410e-01 2.52836893e-02 -2.51943742e+01] [-8.43842256e-02 -2.96362055e-03 9.96428883e-01 -1.32816490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.566296757 meters 0.07017730397000929 Centerline is valid? [True, True] Translation: X:109.20, Y:-25.19, Z:-13.28 [[ 9.60342846e-01 -2.67481637e-01 7.87095459e-02 1.09195188e+02] [ 2.66351463e-01 9.63558964e-01 2.47188177e-02 -2.51896492e+01] [-8.24531184e-02 -2.77413699e-03 9.96591083e-01 -1.32818328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.596296757 meters 0.07076572695601138 Centerline is valid? [True, True] Translation: X:109.22, Y:-25.18, Z:-13.29 [[ 9.60034906e-01 -2.68622443e-01 7.85809267e-02 1.09221159e+02] [ 2.67497613e-01 9.63241771e-01 2.47046225e-02 -2.51788903e+01] [-8.23286470e-02 -2.69708961e-03 9.96601585e-01 -1.32872970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.626296757 meters 0.07067395763815561 Centerline is valid? [True, True] Translation: X:109.25, Y:-25.17, Z:-13.29 [[ 9.59830182e-01 -2.69396180e-01 7.84329031e-02 1.09248873e+02] [ 2.68276368e-01 9.63025801e-01 2.46798993e-02 -2.51695522e+01] [-8.21815799e-02 -2.64681780e-03 9.96613858e-01 -1.32895364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.656296757 meters 0.07052644145723738 Centerline is valid? [True, True] Translation: X:109.28, Y:-25.16, Z:-13.29 [[ 9.59803549e-01 -2.69448450e-01 7.85791274e-02 1.09275114e+02] [ 2.68322969e-01 9.63011122e-01 2.47459646e-02 -2.51591963e+01] [-8.23403354e-02 -2.66667988e-03 9.96600701e-01 -1.32929748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.68629675700001 meters 0.07051257006539387 Centerline is valid? [True, True] Translation: X:109.30, Y:-25.15, Z:-13.30 [[ 9.59952296e-01 -2.68953676e-01 7.84570573e-02 1.09302369e+02] [ 2.67827990e-01 9.63149248e-01 2.47324683e-02 -2.51485586e+01] [-8.22177440e-02 -2.72899375e-03 9.96610654e-01 -1.32955947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.71629675700001 meters 0.07114416484372853 Centerline is valid? [True, True] Translation: X:109.33, Y:-25.13, Z:-13.30 [[ 9.60598741e-01 -2.66702901e-01 7.82280055e-02 1.09327830e+02] [ 2.65574132e-01 9.63774312e-01 2.46871681e-02 -2.51345946e+01] [-8.19782815e-02 -2.93912793e-03 9.96629782e-01 -1.32989303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.74629675700001 meters 0.07207082562038356 Centerline is valid? [True, True] Translation: X:109.35, Y:-25.12, Z:-13.30 [[ 9.61062492e-01 -2.65052602e-01 7.81409247e-02 1.09352304e+02] [ 2.63920632e-01 9.64229036e-01 2.46630608e-02 -2.51217152e+01] [-8.18827569e-02 -3.07974048e-03 9.96637210e-01 -1.33036093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.77629675700001 meters 0.0715367963363483 Centerline is valid? [True, True] Translation: X:109.38, Y:-25.11, Z:-13.30 [[ 9.61280217e-01 -2.64536767e-01 7.72052007e-02 1.09379955e+02] [ 2.63429688e-01 9.64370646e-01 2.43732894e-02 -2.51145587e+01] [-8.09020604e-02 -3.09141895e-03 9.96717262e-01 -1.33043971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.80629675700001 meters 0.07181911606556939 Centerline is valid? [True, True] Translation: X:109.41, Y:-25.10, Z:-13.31 [[ 9.61522960e-01 -2.63757929e-01 7.68462878e-02 1.09405558e+02] [ 2.62657638e-01 9.64583747e-01 2.42726418e-02 -2.51038571e+01] [-8.05267819e-02 -3.15443800e-03 9.96747454e-01 -1.33088263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.836296757 meters 0.07203681243866235 Centerline is valid? [True, True] Translation: X:109.43, Y:-25.09, Z:-13.31 [[ 9.61733938e-01 -2.63141121e-01 7.63189613e-02 1.09432097e+02] [ 2.62053811e-01 9.64752093e-01 2.41080711e-02 -2.50932123e+01] [-7.99727025e-02 -3.18587548e-03 9.96791963e-01 -1.33121275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.866296757 meters 0.0724244921727144 Centerline is valid? [True, True] Translation: X:109.46, Y:-25.08, Z:-13.32 [[ 9.61914625e-01 -2.62606276e-01 7.58827900e-02 1.09457423e+02] [ 2.61527704e-01 9.64897648e-01 2.39956184e-02 -2.50833178e+01] [-7.95205256e-02 -3.23628441e-03 9.96827975e-01 -1.33158294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.896296757 meters 0.07266145107251051 Centerline is valid? [True, True] Translation: X:109.48, Y:-25.07, Z:-13.32 [[ 9.61794403e-01 -2.62952561e-01 7.62068060e-02 1.09483792e+02] [ 2.61865480e-01 9.64803372e-01 2.41023770e-02 -2.50729601e+01] [-7.98623651e-02 -3.22559949e-03 9.96800681e-01 -1.33193253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.926296757 meters 0.07279105270689935 Centerline is valid? [True, True] Translation: X:109.51, Y:-25.06, Z:-13.32 [[ 9.61811807e-01 -2.63111805e-01 7.54335812e-02 1.09510263e+02] [ 2.62045331e-01 9.64760034e-01 2.38814121e-02 -2.50632939e+01] [-7.90587858e-02 -3.20240643e-03 9.96864812e-01 -1.33227082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.956296757 meters 0.07315840725063161 Centerline is valid? [True, True] Translation: X:109.54, Y:-25.05, Z:-13.33 [[ 9.61777772e-01 -2.63498389e-01 7.45125209e-02 1.09537627e+02] [ 2.62458501e-01 9.64654732e-01 2.35962326e-02 -2.50532613e+01] [-7.80964252e-02 -3.13788747e-03 9.96940872e-01 -1.33256963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.986296757 meters 0.07331264042694444 Centerline is valid? [True, True] Translation: X:109.56, Y:-25.04, Z:-13.33 [[ 9.61746376e-01 -2.63710795e-01 7.41655315e-02 1.09563674e+02] [ 2.62679266e-01 9.64596713e-01 2.35113770e-02 -2.50447363e+01] [-7.77400318e-02 -3.13023428e-03 9.96968750e-01 -1.33280348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.016296757 meters 0.0733151939199744 Centerline is valid? [True, True] Translation: X:109.59, Y:-25.04, Z:-13.33 [[ 9.61819757e-01 -2.63662839e-01 7.33802524e-02 1.09591329e+02] [ 2.62652839e-01 9.64609913e-01 2.32637260e-02 -2.50367285e+01] [-7.69170990e-02 -3.10197961e-03 9.97032666e-01 -1.33300710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04629675700001 meters 0.07377454427092531 Centerline is valid? [True, True] Translation: X:109.62, Y:-25.03, Z:-13.33 [[ 9.62017940e-01 -2.63235889e-01 7.23073272e-02 1.09617040e+02] [ 2.62252223e-01 9.64726476e-01 2.29477223e-02 -2.50262667e+01] [-7.57974571e-02 -3.11336331e-03 9.97118374e-01 -1.33347693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07629675700001 meters 0.07388706700246728 Centerline is valid? [True, True] Translation: X:109.64, Y:-25.02, Z:-13.34 [[ 9.62582613e-01 -2.61413150e-01 7.13994275e-02 1.09644735e+02] [ 2.60448447e-01 9.65221618e-01 2.26679239e-02 -2.50150679e+01] [-7.48419643e-02 -3.22387941e-03 9.97190196e-01 -1.33378062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10629675700001 meters 0.07399986228982677 Centerline is valid? [True, True] Translation: X:109.67, Y:-25.01, Z:-13.34 [[ 9.62993939e-01 -2.60034479e-01 7.08854286e-02 1.09672914e+02] [ 2.59079723e-01 9.65593661e-01 2.25073292e-02 -2.50053701e+01] [-7.42992021e-02 -3.30944436e-03 9.97230503e-01 -1.33405585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13629675700001 meters 0.07574977403492267 Centerline is valid? [True, True] Translation: X:109.70, Y:-24.99, Z:-13.35 [[ 9.63785238e-01 -2.58115366e-01 6.70408320e-02 1.09698795e+02] [ 2.57256734e-01 9.66108564e-01 2.12888627e-02 -2.49920726e+01] [-7.02637046e-02 -3.27118610e-03 9.97523088e-01 -1.33475146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16629675700001 meters 0.07589006583296891 Centerline is valid? [True, True] Translation: X:109.73, Y:-24.98, Z:-13.35 [[ 9.64096881e-01 -2.57190352e-01 6.61084539e-02 1.09727486e+02] [ 2.56353128e-01 9.66355147e-01 2.09953310e-02 -2.49837546e+01] [-6.92840412e-02 -3.29442417e-03 9.97591534e-01 -1.33501312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19629675700001 meters 0.07676072691663045 Centerline is valid? [True, True] Translation: X:109.75, Y:-24.97, Z:-13.35 [[ 9.64259663e-01 -2.56831496e-01 6.51220855e-02 1.09753192e+02] [ 2.56018286e-01 9.66450664e-01 2.06821385e-02 -2.49736147e+01] [-6.82491074e-02 -3.27050719e-03 9.97662951e-01 -1.33547416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.226296757 meters 0.07790055803714822 Centerline is valid? [True, True] Translation: X:109.78, Y:-24.96, Z:-13.36 [[ 9.64731977e-01 -2.55328814e-01 6.40266230e-02 1.09779187e+02] [ 2.54539028e-01 9.66848557e-01 2.03408568e-02 -2.49638089e+01] [-6.70976550e-02 -3.32620066e-03 9.97740869e-01 -1.33583847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.256296757 meters 0.07573508002264587 Centerline is valid? [True, True] Translation: X:109.81, Y:-24.96, Z:-13.35 [[ 9.64854133e-01 -2.54817980e-01 6.42207119e-02 1.09809241e+02] [ 2.54022522e-01 9.66983171e-01 2.03986832e-02 -2.49614787e+01] [-6.72982988e-02 -3.36824658e-03 9.97727214e-01 -1.33548073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.286296757 meters 0.07633123949873923 Centerline is valid? [True, True] Translation: X:109.83, Y:-24.95, Z:-13.36 [[ 9.64972915e-01 -2.54108734e-01 6.52382093e-02 1.09834433e+02] [ 2.53284800e-01 9.67169352e-01 2.07425639e-02 -2.49528125e+01] [-6.83672633e-02 -3.49216562e-03 9.97654109e-01 -1.33582678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.316296757 meters 0.07794979104096385 Centerline is valid? [True, True] Translation: X:109.86, Y:-24.94, Z:-13.36 [[ 9.65184542e-01 -2.53329652e-01 6.51374495e-02 1.09859596e+02] [ 2.52505224e-01 9.67373462e-01 2.07291323e-02 -2.49414261e+01] [-6.82635438e-02 -3.55989174e-03 9.97660972e-01 -1.33641548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.346296757 meters 0.07707933426550986 Centerline is valid? [True, True] Translation: X:109.89, Y:-24.94, Z:-13.37 [[ 9.65047553e-01 -2.53941955e-01 6.47819700e-02 1.09887072e+02] [ 2.53128063e-01 9.67213146e-01 2.06134401e-02 -2.49363126e+01] [-6.78925903e-02 -3.49481533e-03 9.97686515e-01 -1.33656759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.376296757 meters 0.07787493080358235 Centerline is valid? [True, True] Translation: X:109.91, Y:-24.93, Z:-13.37 [[ 9.64867058e-01 -2.54527559e-01 6.51711838e-02 1.09914076e+02] [ 2.53703208e-01 9.67059179e-01 2.07659910e-02 -2.49292007e+01] [-6.83099085e-02 -3.50228228e-03 9.97658003e-01 -1.33702185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.406296757 meters 0.07781574919267457 Centerline is valid? [True, True] Translation: X:109.94, Y:-24.92, Z:-13.37 [[ 9.64778743e-01 -2.54863917e-01 6.51641128e-02 1.09941807e+02] [ 2.54040670e-01 9.66970683e-01 2.07613932e-02 -2.49224904e+01] [-6.83031167e-02 -3.47581596e-03 9.97658560e-01 -1.33728993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43629675700001 meters 0.07655985385728159 Centerline is valid? [True, True] Translation: X:109.97, Y:-24.92, Z:-13.37 [[ 9.64306701e-01 -2.56158439e-01 6.70480481e-02 1.09972623e+02] [ 2.55287760e-01 9.66628427e-01 2.13925876e-02 -2.49195785e+01] [-7.02904411e-02 -3.51246959e-03 9.97520384e-01 -1.33729008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46629675700001 meters 0.07680860242592556 Centerline is valid? [True, True] Translation: X:110.00, Y:-24.91, Z:-13.38 [[ 9.64038241e-01 -2.56929684e-01 6.79515025e-02 1.09999579e+02] [ 2.56037612e-01 9.66423769e-01 2.16758135e-02 -2.49107552e+01] [-7.12391071e-02 -3.49817273e-03 9.97453133e-01 -1.33768395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49629675700001 meters 0.07682535894236485 Centerline is valid? [True, True] Translation: X:110.03, Y:-24.90, Z:-13.38 [[ 9.63751635e-01 -2.57975032e-01 6.80563609e-02 1.10026755e+02] [ 2.57081464e-01 9.66145445e-01 2.17278847e-02 -2.49028833e+01] [-7.13575948e-02 -3.44425557e-03 9.97444851e-01 -1.33804598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52629675700001 meters 0.07732253704549433 Centerline is valid? [True, True] Translation: X:110.05, Y:-24.90, Z:-13.39 [[ 9.63113265e-01 -2.59744429e-01 7.03254602e-02 1.10054373e+02] [ 2.58792766e-01 9.65671226e-01 2.24808409e-02 -2.48953562e+01] [-7.37505465e-02 -3.45187570e-03 9.97270746e-01 -1.33852630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55629675700001 meters 0.07638605748029965 Centerline is valid? [True, True] Translation: X:110.09, Y:-24.89, Z:-13.39 [[ 9.62355629e-01 -2.62281374e-01 7.12749844e-02 1.10085069e+02] [ 2.61310461e-01 9.64985781e-01 2.27878433e-02 -2.48927625e+01] [-7.47561733e-02 -3.30511022e-03 9.97196365e-01 -1.33861491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.586296757 meters 0.07634870877766271 Centerline is valid? [True, True] Translation: X:110.11, Y:-24.88, Z:-13.39 [[ 9.61759772e-01 -2.64146214e-01 7.24218087e-02 1.10113303e+02] [ 2.63149500e-01 9.64477322e-01 2.31481312e-02 -2.48849465e+01] [-7.59636834e-02 -3.20517866e-03 9.97105434e-01 -1.33893661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.616296757 meters 0.0768208316354972 Centerline is valid? [True, True] Translation: X:110.14, Y:-24.88, Z:-13.40 [[ 9.61140998e-01 -2.66156700e-01 7.32706773e-02 1.10140337e+02] [ 2.65140314e-01 9.63924769e-01 2.34447048e-02 -2.48751810e+01] [-7.68673859e-02 -3.10665656e-03 9.97036486e-01 -1.33950048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.646296757 meters 0.07572646813136118 Centerline is valid? [True, True] Translation: X:110.17, Y:-24.87, Z:-13.40 [[ 9.60347230e-01 -2.69013285e-01 7.32465013e-02 1.10169902e+02] [ 2.68006108e-01 9.63132179e-01 2.34335862e-02 -2.48714443e+01] [-7.68500084e-02 -2.87386989e-03 9.97038523e-01 -1.33963309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.676296757 meters 0.07556179146087429 Centerline is valid? [True, True] Translation: X:110.20, Y:-24.86, Z:-13.40 [[ 9.59938128e-01 -2.70200161e-01 7.42338473e-02 1.10198342e+02] [ 2.69167656e-01 9.62799998e-01 2.37683786e-02 -2.48640354e+01] [-7.78945678e-02 -2.83482218e-03 9.96957572e-01 -1.33994508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.706296757 meters 0.0757083388133178 Centerline is valid? [True, True] Translation: X:110.22, Y:-24.86, Z:-13.40 [[ 9.59621069e-01 -2.71115888e-01 7.49905257e-02 1.10224973e+02] [ 2.70063154e-01 9.62542608e-01 2.40337330e-02 -2.48556972e+01] [-7.86975031e-02 -2.81109874e-03 9.96894579e-01 -1.34034719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.736296757 meters 0.0760138297779006 Centerline is valid? [True, True] Translation: X:110.25, Y:-24.85, Z:-13.41 [[ 9.59549537e-01 -2.71447712e-01 7.47049254e-02 1.10250848e+02] [ 2.70403552e-01 9.62449177e-01 2.39478689e-02 -2.48474067e+01] [-7.84002882e-02 -2.77868934e-03 9.96918088e-01 -1.34067816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.766296757 meters 0.07591113296287957 Centerline is valid? [True, True] Translation: X:110.28, Y:-24.84, Z:-13.41 [[ 9.59456368e-01 -2.71537559e-01 7.55700503e-02 1.10278587e+02] [ 2.70468798e-01 9.62423742e-01 2.42316089e-02 -2.48383250e+01] [-7.93102026e-02 -2.80983086e-03 9.96846025e-01 -1.34102610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79629675700001 meters 0.07564196971370338 Centerline is valid? [True, True] Translation: X:110.31, Y:-24.83, Z:-13.41 [[ 9.59555357e-01 -2.71494422e-01 7.44600272e-02 1.10306322e+02] [ 2.70455470e-01 9.62435976e-01 2.38920588e-02 -2.48303555e+01] [-7.81495696e-02 -2.78763134e-03 9.96937748e-01 -1.34131344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82629675700001 meters 0.07677464452772184 Centerline is valid? [True, True] Translation: X:110.33, Y:-24.82, Z:-13.42 [[ 9.59648910e-01 -2.71255804e-01 7.41232672e-02 1.10330809e+02] [ 2.70223587e-01 9.62503167e-01 2.38089783e-02 -2.48181556e+01] [-7.78022029e-02 -2.81840493e-03 9.96964831e-01 -1.34201794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85629675700001 meters 0.07651637891872347 Centerline is valid? [True, True] Translation: X:110.36, Y:-24.81, Z:-13.42 [[ 9.60001941e-01 -2.70182918e-01 7.34674396e-02 1.10358715e+02] [ 2.69165680e-01 9.62804701e-01 2.35996861e-02 -2.48112642e+01] [-7.71110283e-02 -2.88083119e-03 9.97018350e-01 -1.34218791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88629675700001 meters 0.07673711480697859 Centerline is valid? [True, True] Translation: X:110.38, Y:-24.80, Z:-13.43 [[ 9.60041495e-01 -2.70205981e-01 7.28632672e-02 1.10384730e+02] [ 2.69203752e-01 9.62798239e-01 2.34284041e-02 -2.48017739e+01] [-7.64831202e-02 -2.87717515e-03 9.97066725e-01 -1.34258619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91629675700001 meters 0.07665581117751712 Centerline is valid? [True, True] Translation: X:110.41, Y:-24.79, Z:-13.43 [[ 9.59934092e-01 -2.70406522e-01 7.35313045e-02 1.10411836e+02] [ 2.69385899e-01 9.62741886e-01 2.36494681e-02 -2.47935994e+01] [-7.71866372e-02 -2.89363405e-03 9.97012462e-01 -1.34289708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94629675700001 meters 0.07608300505733773 Centerline is valid? [True, True] Translation: X:110.44, Y:-24.79, Z:-13.43 [[ 9.60059163e-01 -2.70159923e-01 7.28012393e-02 1.10440353e+02] [ 2.69157399e-01 9.62811090e-01 2.34328695e-02 -2.47870829e+01] [-7.64244628e-02 -2.90194883e-03 9.97071151e-01 -1.34304115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.976296757 meters 0.07658750637177972 Centerline is valid? [True, True] Translation: X:110.47, Y:-24.78, Z:-13.44 [[ 9.60025782e-01 -2.70052454e-01 7.36353822e-02 1.10466432e+02] [ 2.69024625e-01 9.62841040e-01 2.37251371e-02 -2.47774118e+01] [-7.73061995e-02 -2.96701221e-03 9.97002983e-01 -1.34354093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.006296757 meters 0.07685909347944017 Centerline is valid? [True, True] Translation: X:110.49, Y:-24.77, Z:-13.44 [[ 9.60175905e-01 -2.69291626e-01 7.44597333e-02 1.10493607e+02] [ 2.68237521e-01 9.63053779e-01 2.40010748e-02 -2.47667248e+01] [-7.81720160e-02 -3.07235941e-03 9.96935152e-01 -1.34382165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.036296757 meters 0.07779676420599742 Centerline is valid? [True, True] Translation: X:110.52, Y:-24.75, Z:-13.44 [[ 9.60148584e-01 -2.69155531e-01 7.52993837e-02 1.10518312e+02] [ 2.68076150e-01 9.63091640e-01 2.42831460e-02 -2.47541376e+01] [-7.90561500e-02 -3.12945929e-03 9.96865252e-01 -1.34442321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.066296757 meters 0.07662713036347799 Centerline is valid? [True, True] Translation: X:110.55, Y:-24.75, Z:-13.44 [[ 9.60198763e-01 -2.68817618e-01 7.58645119e-02 1.10546080e+02] [ 2.67720440e-01 9.63185825e-01 2.44710424e-02 -2.47490044e+01] [-7.96498698e-02 -3.18658414e-03 9.96817809e-01 -1.34431878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.096296757 meters 0.0767892262603866 Centerline is valid? [True, True] Translation: X:110.57, Y:-24.74, Z:-13.45 [[ 9.60167928e-01 -2.68540978e-01 7.72223647e-02 1.10572600e+02] [ 2.67400766e-01 9.63262621e-01 2.49389776e-02 -2.47392747e+01] [-8.10825549e-02 -3.29628701e-03 9.96701938e-01 -1.34452188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.126296757 meters 0.07680319361212888 Centerline is valid? [True, True] Translation: X:110.60, Y:-24.73, Z:-13.45 [[ 9.60110356e-01 -2.68790506e-01 7.70698857e-02 1.10599447e+02] [ 2.67655501e-01 9.63193112e-01 2.48909849e-02 -2.47301191e+01] [-8.09236435e-02 -3.26991345e-03 9.96714940e-01 -1.34482217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.156296757 meters 0.07643729533169658 Centerline is valid? [True, True] Translation: X:110.63, Y:-24.72, Z:-13.45 [[ 9.60180446e-01 -2.68155290e-01 7.83980313e-02 1.10625493e+02] [ 2.66976670e-01 9.63369686e-01 2.53437482e-02 -2.47201419e+01] [-8.23223469e-02 -3.40412620e-03 9.96599941e-01 -1.34494450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.18629675700001 meters 0.07643729533169658 Centerline is valid? [True, True] Translation: X:110.65, Y:-24.71, Z:-13.45 [[ 9.60107386e-01 -2.68418785e-01 7.83910900e-02 1.10651606e+02] [ 2.67239292e-01 9.63296303e-01 2.53651966e-02 -2.47115890e+01] [-8.23223425e-02 -3.40413326e-03 9.96599942e-01 -1.34525227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.21629675700001 meters 0.07661557117591779 Centerline is valid? [True, True] Translation: X:110.68, Y:-24.70, Z:-13.46 [[ 9.60266763e-01 -2.67695023e-01 7.89120902e-02 1.10676725e+02] [ 2.66494853e-01 9.63497274e-01 2.55635669e-02 -2.46999086e+01] [-8.28748235e-02 -3.51817779e-03 9.96553755e-01 -1.34561360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.24629675700001 meters 0.07669141955678174 Centerline is valid? [True, True] Translation: X:110.70, Y:-24.69, Z:-13.46 [[ 9.60547236e-01 -2.66271417e-01 8.03027955e-02 1.10702155e+02] [ 2.65023238e-01 9.63890957e-01 2.60174357e-02 -2.46862987e+01] [-8.43308379e-02 -3.70886909e-03 9.96430908e-01 -1.34593671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.27629675700001 meters 0.07614333306545393 Centerline is valid? [True, True] Translation: X:110.73, Y:-24.68, Z:-13.46 [[ 9.60588470e-01 -2.65928157e-01 8.09444623e-02 1.10729962e+02] [ 2.64656892e-01 9.63985402e-01 2.62464254e-02 -2.46778354e+01] [-8.50089435e-02 -3.78950378e-03 9.96372982e-01 -1.34607677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.30629675700001 meters 0.07573576934657911 Centerline is valid? [True, True] Translation: X:110.76, Y:-24.67, Z:-13.46 [[ 9.60495101e-01 -2.65923814e-01 8.20590385e-02 1.10757064e+02] [ 2.64615274e-01 9.63986304e-01 2.66300924e-02 -2.46686710e+01] [-8.61853649e-02 -3.86399831e-03 9.96271626e-01 -1.34631672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.336296757 meters 0.07563899639430613 Centerline is valid? [True, True] Translation: X:110.78, Y:-24.66, Z:-13.47 [[ 9.60431681e-01 -2.66301434e-01 8.15753126e-02 1.10782635e+02] [ 2.65007670e-01 9.63882191e-01 2.64963408e-02 -2.46591154e+01] [-8.56850046e-02 -3.82984161e-03 9.96314916e-01 -1.34665351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.366296757 meters 0.07511625849287874 Centerline is valid? [True, True] Translation: X:110.81, Y:-24.65, Z:-13.47 [[ 9.60251100e-01 -2.66894229e-01 8.17636565e-02 1.10810427e+02] [ 2.65595275e-01 9.63718333e-01 2.65730122e-02 -2.46516057e+01] [-8.58893184e-02 -3.80072338e-03 9.96297435e-01 -1.34691239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.396296757 meters 0.0747891508128697 Centerline is valid? [True, True] Translation: X:110.84, Y:-24.64, Z:-13.47 [[ 9.59677537e-01 -2.68888476e-01 8.19634865e-02 1.10837040e+02] [ 2.67588069e-01 9.63164375e-01 2.66648176e-02 -2.46408141e+01] [-8.61141724e-02 -3.65717531e-03 9.96278563e-01 -1.34743830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.426296757 meters 0.07414821115184891 Centerline is valid? [True, True] Translation: X:110.86, Y:-24.63, Z:-13.48 [[ 9.59411868e-01 -2.70159180e-01 8.08881030e-02 1.10864475e+02] [ 2.68897152e-01 9.62809320e-01 2.63160702e-02 -2.46324355e+01] [-8.49893474e-02 -3.49736950e-03 9.96375722e-01 -1.34760317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.456296757 meters 0.07420259667309058 Centerline is valid? [True, True] Translation: X:110.89, Y:-24.62, Z:-13.48 [[ 9.58952346e-01 -2.71839087e-01 8.07087888e-02 1.10890301e+02] [ 2.70586710e-01 9.62336846e-01 2.62797798e-02 -2.46212619e+01] [-8.48129126e-02 -3.36233086e-03 9.96391221e-01 -1.34811235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.486296757 meters 0.07365000248573346 Centerline is valid? [True, True] Translation: X:110.92, Y:-24.61, Z:-13.48 [[ 9.58721284e-01 -2.72672469e-01 8.06425765e-02 1.10918823e+02] [ 2.71423241e-01 9.62101237e-01 2.62799364e-02 -2.46141034e+01] [-8.47521377e-02 -3.30686492e-03 9.96396578e-01 -1.34823118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.516296757 meters 0.07339458824097714 Centerline is valid? [True, True] Translation: X:110.94, Y:-24.61, Z:-13.49 [[ 9.58544672e-01 -2.73862543e-01 7.86855730e-02 1.10944909e+02] [ 2.72675228e-01 9.61763692e-01 2.56675164e-02 -2.46056796e+01] [-8.27062985e-02 -3.14785454e-03 9.96568994e-01 -1.34856572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54629675700001 meters 0.0729565207834511 Centerline is valid? [True, True] Translation: X:110.97, Y:-24.60, Z:-13.49 [[ 9.58495482e-01 -2.74211015e-01 7.80687582e-02 1.10972456e+02] [ 2.73043235e-01 9.61664566e-01 2.54687084e-02 -2.45975456e+01] [-8.20597588e-02 -3.09549567e-03 9.96622604e-01 -1.34877046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57629675700001 meters 0.07363841301351726 Centerline is valid? [True, True] Translation: X:111.00, Y:-24.59, Z:-13.49 [[ 9.58604448e-01 -2.73749992e-01 7.83482868e-02 1.10997061e+02] [ 2.72570111e-01 9.61795655e-01 2.55861624e-02 -2.45852018e+01] [-8.23592536e-02 -3.17160778e-03 9.96597659e-01 -1.34931282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.60629675700001 meters 0.07346081106501481 Centerline is valid? [True, True] Translation: X:111.02, Y:-24.57, Z:-13.50 [[ 9.58375424e-01 -2.74040690e-01 8.01139658e-02 1.11024097e+02] [ 2.72807580e-01 9.61712701e-01 2.61668666e-02 -2.45742171e+01] [-8.42174046e-02 -3.22198473e-03 9.96442195e-01 -1.34967204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.63629675700001 meters 0.073148209777161 Centerline is valid? [True, True] Translation: X:111.05, Y:-24.57, Z:-13.50 [[ 9.58412268e-01 -2.73856654e-01 8.03022876e-02 1.11051426e+02] [ 2.72615484e-01 9.61764981e-01 2.62472650e-02 -2.45653575e+01] [-8.44199162e-02 -3.26405373e-03 9.96424921e-01 -1.34989965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.66629675700001 meters 0.07245523741618363 Centerline is valid? [True, True] Translation: X:111.08, Y:-24.56, Z:-13.50 [[ 9.58314426e-01 -2.74076195e-01 8.07198844e-02 1.11079377e+02] [ 2.72821000e-01 9.61702378e-01 2.64052468e-02 -2.45563563e+01] [-8.48655544e-02 -3.28244930e-03 9.96387005e-01 -1.35004863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.69629675700001 meters 0.07243642927134022 Centerline is valid? [True, True] Translation: X:111.11, Y:-24.55, Z:-13.50 [[ 9.58265718e-01 -2.73938553e-01 8.17586937e-02 1.11106925e+02] [ 2.72648325e-01 9.61741330e-01 2.67676101e-02 -2.45466691e+01] [-8.59633952e-02 -3.35911219e-03 9.96292633e-01 -1.35026043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.726296757 meters 0.07276095863987198 Centerline is valid? [True, True] Translation: X:111.13, Y:-24.54, Z:-13.51 [[ 9.58468439e-01 -2.73420059e-01 8.11154964e-02 1.11133215e+02] [ 2.72146005e-01 9.61888707e-01 2.65832113e-02 -2.45360478e+01] [-8.52924631e-02 -3.40391071e-03 9.96350144e-01 -1.35051819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.756296757 meters 0.07313083764208339 Centerline is valid? [True, True] Translation: X:111.16, Y:-24.52, Z:-13.51 [[ 9.59175114e-01 -2.71036900e-01 8.07595187e-02 1.11160289e+02] [ 2.69764821e-01 9.62562193e-01 2.64757594e-02 -2.45234153e+01] [-8.49119672e-02 -3.60881244e-03 9.96381922e-01 -1.35091497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.786296757 meters 0.07335035510918035 Centerline is valid? [True, True] Translation: X:111.19, Y:-24.51, Z:-13.51 [[ 9.59204616e-01 -2.71010324e-01 8.04978855e-02 1.11186707e+02] [ 2.69746641e-01 9.62569721e-01 2.63871424e-02 -2.45131933e+01] [-8.46360153e-02 -3.59663459e-03 9.96405444e-01 -1.35137880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.816296757 meters 0.07385352422437323 Centerline is valid? [True, True] Translation: X:111.21, Y:-24.50, Z:-13.52 [[ 9.59404036e-01 -2.70709171e-01 7.91229418e-02 1.11212643e+02] [ 2.69485228e-01 9.62654501e-01 2.59619582e-02 -2.45024992e+01] [-8.31961963e-02 -3.58554348e-03 9.96526737e-01 -1.35179337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.846296757 meters 0.07306950094222985 Centerline is valid? [True, True] Translation: X:111.24, Y:-24.49, Z:-13.52 [[ 9.59239990e-01 -2.70909298e-01 8.04163721e-02 1.11240602e+02] [ 2.69645345e-01 9.62598034e-01 2.63896405e-02 -2.44944663e+01] [-8.45578406e-02 -3.63009805e-03 9.96411960e-01 -1.35200179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.876296757 meters 0.07347909014257614 Centerline is valid? [True, True] Translation: X:111.27, Y:-24.48, Z:-13.52 [[ 9.59138141e-01 -2.70915098e-01 8.16029141e-02 1.11266181e+02] [ 2.69611196e-01 9.62596099e-01 2.68058357e-02 -2.44839568e+01] [-8.58127524e-02 -3.70944017e-03 9.96304377e-01 -1.35236375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.906296757 meters 0.07212951299878717 Centerline is valid? [True, True] Translation: X:111.29, Y:-24.48, Z:-13.52 [[ 9.58731625e-01 -2.71738172e-01 8.36184046e-02 1.11294634e+02] [ 2.70371266e-01 9.62363974e-01 2.74765302e-02 -2.44775334e+01] [-8.79377622e-02 -3.73460457e-03 9.96118970e-01 -1.35247566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.93629675700001 meters 0.07211856645089788 Centerline is valid? [True, True] Translation: X:111.32, Y:-24.47, Z:-13.53 [[ 9.58355671e-01 -2.72681195e-01 8.48491299e-02 1.11321619e+02] [ 2.71277102e-01 9.62097314e-01 2.78835594e-02 -2.44678564e+01] [-8.92364422e-02 -3.70474121e-03 9.96003580e-01 -1.35278661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.96629675700001 meters 0.07144443614766233 Centerline is valid? [True, True] Translation: X:111.35, Y:-24.46, Z:-13.53 [[ 9.57799457e-01 -2.73884751e-01 8.72200837e-02 1.11350095e+02] [ 2.72403314e-01 9.61755323e-01 2.86903077e-02 -2.44603919e+01] [-9.17422175e-02 -3.72052138e-03 9.95775840e-01 -1.35301940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.99629675700001 meters 0.07207740617055033 Centerline is valid? [True, True] Translation: X:111.37, Y:-24.45, Z:-13.54 [[ 9.57335481e-01 -2.75400916e-01 8.75392072e-02 1.11374823e+02] [ 2.73913846e-01 9.61322724e-01 2.88066971e-02 -2.44485585e+01] [-9.20868199e-02 -3.59947226e-03 9.95744476e-01 -1.35351604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.02629675700001 meters 0.07102331849209888 Centerline is valid? [True, True] Translation: X:111.40, Y:-24.44, Z:-13.54 [[ 9.56674628e-01 -2.77107389e-01 8.93596722e-02 1.11403075e+02] [ 2.75563713e-01 9.60832502e-01 2.94201291e-02 -2.44431317e+01] [-9.40122125e-02 -3.52120804e-03 9.95564817e-01 -1.35379090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.05629675700001 meters 0.07058359310793527 Centerline is valid? [True, True] Translation: X:111.43, Y:-24.44, Z:-13.54 [[ 9.55397415e-01 -2.81287816e-01 8.99607928e-02 1.11430486e+02] [ 2.79740984e-01 9.59618317e-01 2.96254354e-02 -2.44354337e+01] [-9.46612986e-02 -3.13834368e-03 9.95504590e-01 -1.35423041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.086296757 meters 0.07035495434197106 Centerline is valid? [True, True] Translation: X:111.46, Y:-24.43, Z:-13.55 [[ 9.54702329e-01 -2.83535602e-01 9.02830260e-02 1.11458359e+02] [ 2.81987438e-01 9.58957240e-01 2.97337631e-02 -2.44272673e+01] [-9.50081419e-02 -2.92821366e-03 9.95472189e-01 -1.35463136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.116296757 meters 0.06962988347723818 Centerline is valid? [True, True] Translation: X:111.49, Y:-24.42, Z:-13.55 [[ 9.53497059e-01 -2.87334259e-01 9.10075974e-02 1.11488036e+02] [ 2.85775829e-01 9.57826857e-01 2.99981344e-02 -2.44231059e+01] [-9.57890127e-02 -2.59536129e-03 9.95398277e-01 -1.35501899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.146296757 meters 0.06989553038365896 Centerline is valid? [True, True] Translation: X:111.51, Y:-24.41, Z:-13.56 [[ 9.52695897e-01 -2.89982429e-01 9.09984580e-02 1.11514121e+02] [ 2.88436344e-01 9.57029136e-01 2.99951444e-02 -2.44132609e+01] [-9.57862405e-02 -2.32898840e-03 9.95399202e-01 -1.35553800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.176296757 meters 0.06922176030339915 Centerline is valid? [True, True] Translation: X:111.54, Y:-24.41, Z:-13.56 [[ 9.51975328e-01 -2.92168722e-01 9.15445964e-02 1.11543254e+02] [ 2.90611618e-01 9.56364383e-01 3.02002417e-02 -2.44090785e+01] [-9.63735575e-02 -2.14596171e-03 9.95342922e-01 -1.35561892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.206296757 meters 0.06864855669014107 Centerline is valid? [True, True] Translation: X:111.57, Y:-24.40, Z:-13.56 [[ 9.50879004e-01 -2.95546789e-01 9.20935164e-02 1.11571400e+02] [ 2.93983933e-01 9.55326490e-01 3.04096078e-02 -2.44035037e+01] [-9.69668378e-02 -1.84184344e-03 9.95285909e-01 -1.35586908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.236296757 meters 0.06867824522453195 Centerline is valid? [True, True] Translation: X:111.60, Y:-24.40, Z:-13.56 [[ 9.50332112e-01 -2.97296680e-01 9.21062499e-02 1.11597811e+02] [ 2.95740914e-01 9.54783690e-01 3.04206780e-02 -2.43958403e+01] [-9.69855117e-02 -1.67016074e-03 9.95284392e-01 -1.35612921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.266296757 meters 0.06901565296263792 Centerline is valid? [True, True] Translation: X:111.62, Y:-24.39, Z:-13.56 [[ 9.50108491e-01 -2.98589798e-01 9.02107997e-02 1.11624778e+02] [ 2.97102571e-01 9.54380343e-01 2.98030657e-02 -2.43879072e+01] [-9.49943053e-02 -1.51428532e-03 9.95476664e-01 -1.35644911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.29629675700001 meters 0.06915811846823819 Centerline is valid? [True, True] Translation: X:111.65, Y:-24.38, Z:-13.57 [[ 9.50012756e-01 -2.99111541e-01 8.94877009e-02 1.11651156e+02] [ 2.97649711e-01 9.54217041e-01 2.95717486e-02 -2.43787998e+01] [-9.42359405e-02 -1.45755016e-03 9.95548825e-01 -1.35689934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.32629675700001 meters 0.0693957230730988 Centerline is valid? [True, True] Translation: X:111.68, Y:-24.37, Z:-13.57 [[ 9.50323816e-01 -2.98805635e-01 8.71770454e-02 1.11678142e+02] [ 2.97416329e-01 9.54312876e-01 2.88177205e-02 -2.43704760e+01] [-9.18050742e-02 -1.45828930e-03 9.95775929e-01 -1.35734724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.35629675700001 meters 0.06960560303550165 Centerline is valid? [True, True] Translation: X:111.71, Y:-24.36, Z:-13.58 [[ 9.50661809e-01 -2.98272107e-01 8.52987394e-02 1.11705168e+02] [ 2.96938052e-01 9.54479705e-01 2.82185502e-02 -2.43611527e+01] [-8.98327220e-02 -1.49785645e-03 9.95955741e-01 -1.35760363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.38629675700001 meters 0.0694561717647374 Centerline is valid? [True, True] Translation: X:111.73, Y:-24.35, Z:-13.58 [[ 9.51203761e-01 -2.96736139e-01 8.46112780e-02 1.11732750e+02] [ 2.95415563e-01 9.54958083e-01 2.80125761e-02 -2.43529365e+01] [-8.91125676e-02 -1.65017940e-03 9.96020194e-01 -1.35777260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.41629675700001 meters 0.0695356674233493 Centerline is valid? [True, True] Translation: X:111.76, Y:-24.34, Z:-13.58 [[ 9.51472584e-01 -2.95905478e-01 8.44977574e-02 1.11759563e+02] [ 2.94583108e-01 9.55215626e-01 2.79982015e-02 -2.43434993e+01] [-8.89983995e-02 -1.74790908e-03 9.96030235e-01 -1.35802663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.44629675700001 meters 0.06969799988914367 Centerline is valid? [True, True] Translation: X:111.79, Y:-24.33, Z:-13.58 [[ 9.51955654e-01 -2.94399249e-01 8.43179417e-02 1.11785469e+02] [ 2.93074187e-01 9.55680611e-01 2.79658675e-02 -2.43331235e+01] [-8.88141525e-02 -1.91085341e-03 9.96046382e-01 -1.35833850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.476296757 meters 0.07012434317748151 Centerline is valid? [True, True] Translation: X:111.81, Y:-24.32, Z:-13.59 [[ 9.52833931e-01 -2.91887608e-01 8.31211414e-02 1.11811380e+02] [ 2.90589649e-01 9.56450269e-01 2.75778666e-02 -2.43208590e+01] [-8.75508756e-02 -2.12298374e-03 9.96157787e-01 -1.35879261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.506296757 meters 0.07049325264626198 Centerline is valid? [True, True] Translation: X:111.84, Y:-24.31, Z:-13.59 [[ 9.53445710e-01 -2.90043380e-01 8.25597710e-02 1.11838329e+02] [ 2.88755696e-01 9.57010782e-01 2.73954513e-02 -2.43119807e+01] [-8.69564603e-02 -2.28047134e-03 9.96209503e-01 -1.35901125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.536296757 meters 0.07086956677251328 Centerline is valid? [True, True] Translation: X:111.86, Y:-24.30, Z:-13.59 [[ 9.53895331e-01 -2.89017692e-01 8.09473386e-02 1.11864423e+02] [ 2.87775578e-01 9.57320909e-01 2.68680757e-02 -2.43028516e+01] [-8.52579290e-02 -2.33466482e-03 9.96356179e-01 -1.35940859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.566296757 meters 0.07090479290671982 Centerline is valid? [True, True] Translation: X:111.89, Y:-24.30, Z:-13.60 [[ 9.53921086e-01 -2.89188507e-01 8.00285500e-02 1.11892573e+02] [ 2.87974830e-01 9.57269417e-01 2.65661557e-02 -2.42950291e+01] [-8.42915103e-02 -2.29580805e-03 9.96438493e-01 -1.35972515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.596296757 meters 0.07109557678081999 Centerline is valid? [True, True] Translation: X:111.92, Y:-24.29, Z:-13.60 [[ 9.54262803e-01 -2.88311320e-01 7.91143791e-02 1.11919707e+02] [ 2.87120087e-01 9.57533791e-01 2.62886719e-02 -2.42872288e+01] [-8.33340131e-02 -2.37097430e-03 9.96518851e-01 -1.36013200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.626296757 meters 0.07120976586164522 Centerline is valid? [True, True] Translation: X:111.94, Y:-24.28, Z:-13.61 [[ 9.54283837e-01 -2.88181066e-01 7.93349313e-02 1.11944736e+02] [ 2.86982331e-01 9.57572945e-01 2.63665957e-02 -2.42782479e+01] [-8.35673374e-02 -2.39349259e-03 9.96499258e-01 -1.36050342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.656296757 meters 0.07136739157341375 Centerline is valid? [True, True] Translation: X:111.97, Y:-24.27, Z:-13.61 [[ 9.54243119e-01 -2.87858467e-01 8.09788450e-02 1.11971744e+02] [ 2.86606838e-01 9.57669730e-01 2.69297138e-02 -2.42681939e+01] [-8.53029347e-02 -2.48840339e-03 9.96351954e-01 -1.36081687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.68629675700001 meters 0.07077297629589092 Centerline is valid? [True, True] Translation: X:112.00, Y:-24.26, Z:-13.61 [[ 9.53975635e-01 -2.88417830e-01 8.21318628e-02 1.12000310e+02] [ 2.87130543e-01 9.57501406e-01 2.73333050e-02 -2.42623690e+01] [-8.65247866e-02 -2.49274062e-03 9.96246580e-01 -1.36087878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.71629675700001 meters 0.07102013944802385 Centerline is valid? [True, True] Translation: X:112.03, Y:-24.26, Z:-13.61 [[ 9.53989544e-01 -2.88229775e-01 8.26289669e-02 1.12027941e+02] [ 2.86924164e-01 9.57557889e-01 2.75211250e-02 -2.42550130e+01] [-8.70544268e-02 -2.54661825e-03 9.96200302e-01 -1.36109167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74629675700001 meters 0.07092376325950317 Centerline is valid? [True, True] Translation: X:112.06, Y:-24.25, Z:-13.61 [[ 9.53420165e-01 -2.89716329e-01 8.39907006e-02 1.12055615e+02] [ 2.88370116e-01 9.57109340e-01 2.80069167e-02 -2.42497831e+01] [-8.85023452e-02 -2.48195106e-03 9.96072876e-01 -1.36129420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77629675700001 meters 0.07110199252935895 Centerline is valid? [True, True] Translation: X:112.08, Y:-24.24, Z:-13.62 [[ 9.53169119e-01 -2.90243462e-01 8.50139008e-02 1.12082379e+02] [ 2.88866025e-01 9.56949661e-01 2.83507484e-02 -2.42409884e+01] [-8.95826429e-02 -2.46543022e-03 9.95976341e-01 -1.36164085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.80629675700001 meters 0.07126056645893944 Centerline is valid? [True, True] Translation: X:112.11, Y:-24.23, Z:-13.62 [[ 9.52959330e-01 -2.90979500e-01 8.48495522e-02 1.12109347e+02] [ 2.89608292e-01 9.56726245e-01 2.83183650e-02 -2.42322912e+01] [-8.94178571e-02 -2.41311623e-03 9.95991277e-01 -1.36201953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.836296757 meters 0.07118656249972766 Centerline is valid? [True, True] Translation: X:112.14, Y:-24.22, Z:-13.62 [[ 9.52694842e-01 -2.91866520e-01 8.47730716e-02 1.12136758e+02] [ 2.90498900e-01 9.56456166e-01 2.83194764e-02 -2.42238301e+01] [-8.93472341e-02 -2.35333507e-03 9.95997758e-01 -1.36246670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.866296757 meters 0.0713236358965458 Centerline is valid? [True, True] Translation: X:112.16, Y:-24.22, Z:-13.63 [[ 9.51800456e-01 -2.94724127e-01 8.49327969e-02 1.12163196e+02] [ 2.93360275e-01 9.55580042e-01 2.83995116e-02 -2.42173389e+01] [-8.95301069e-02 -2.11475946e-03 9.95981871e-01 -1.36302652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.896296757 meters 0.07129103914161056 Centerline is valid? [True, True] Translation: X:112.19, Y:-24.21, Z:-13.63 [[ 9.51252758e-01 -2.96502636e-01 8.48786020e-02 1.12191519e+02] [ 2.95147191e-01 9.55030043e-01 2.83857815e-02 -2.42108634e+01] [-8.94780739e-02 -1.95037201e-03 9.95986883e-01 -1.36337284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.926296757 meters 0.07076764835347875 Centerline is valid? [True, True] Translation: X:112.22, Y:-24.21, Z:-13.64 [[ 9.50289842e-01 -2.99350262e-01 8.56658445e-02 1.12221149e+02] [ 2.97978523e-01 9.54141733e-01 2.86766992e-02 -2.42087757e+01] [-9.03217347e-02 -1.72459417e-03 9.95911146e-01 -1.36356166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.956296757 meters 0.07060489698274752 Centerline is valid? [True, True] Translation: X:112.25, Y:-24.20, Z:-13.64 [[ 9.49268032e-01 -3.01852608e-01 8.81771310e-02 1.12249154e+02] [ 3.00409162e-01 9.53353365e-01 2.95245056e-02 -2.42026066e+01] [-9.29760136e-02 -1.53745134e-03 9.95667162e-01 -1.36384734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.986296757 meters 0.0702201886701072 Centerline is valid? [True, True] Translation: X:112.28, Y:-24.20, Z:-13.64 [[ 9.48548267e-01 -3.03721989e-01 8.94937898e-02 1.12277065e+02] [ 3.02242959e-01 9.52759704e-01 2.99689848e-02 -2.41961093e+01] [-9.43683164e-02 -1.37816081e-03 9.95536399e-01 -1.36411362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.016296757 meters 0.06986243787540225 Centerline is valid? [True, True] Translation: X:112.31, Y:-24.19, Z:-13.64 [[ 9.47559310e-01 -3.06352369e-01 9.09922012e-02 1.12305080e+02] [ 3.04832957e-01 9.51917477e-01 3.04956682e-02 -2.41888604e+01] [-9.59594867e-02 -1.15903253e-03 9.95384566e-01 -1.36437245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.04629675700001 meters 0.06992817791294602 Centerline is valid? [True, True] Translation: X:112.33, Y:-24.18, Z:-13.65 [[ 9.47278663e-01 -3.07017123e-01 9.16712657e-02 1.12332887e+02] [ 3.05475599e-01 9.51703328e-01 3.07479135e-02 -2.41799691e+01] [-9.66839845e-02 -1.12350756e-03 9.95314495e-01 -1.36467667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07629675700001 meters 0.06992817791294602 Centerline is valid? [True, True] Translation: X:112.36, Y:-24.17, Z:-13.65 [[ 9.47195175e-01 -3.07276747e-01 9.16640632e-02 1.12358887e+02] [ 3.05734360e-01 9.51619539e-01 3.07693690e-02 -2.41711555e+01] [-9.66840252e-02 -1.11974416e-03 9.95314496e-01 -1.36498429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10629675700001 meters 0.07004585390737927 Centerline is valid? [True, True] Translation: X:112.38, Y:-24.16, Z:-13.65 [[ 9.47221834e-01 -3.07061385e-01 9.21091930e-02 1.12384748e+02] [ 3.05499945e-01 9.51688984e-01 3.09493472e-02 -2.41630191e+01] [-9.71626537e-02 -1.17654407e-03 9.95267820e-01 -1.36526998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.13629675700001 meters 0.07005160382812982 Centerline is valid? [True, True] Translation: X:112.41, Y:-24.15, Z:-13.66 [[ 9.47587938e-01 -3.06069243e-01 9.16445207e-02 1.12411180e+02] [ 3.04517772e-01 9.52008389e-01 3.08051036e-02 -2.41540207e+01] [-9.66748472e-02 -1.28315926e-03 9.95315190e-01 -1.36558894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.16629675700001 meters 0.0702171151412243 Centerline is valid? [True, True] Translation: X:112.44, Y:-24.14, Z:-13.66 [[ 9.48049713e-01 -3.04579945e-01 9.18302769e-02 1.12438003e+02] [ 3.03013947e-01 9.52485671e-01 3.08803139e-02 -2.41436521e+01] [-9.68725473e-02 -1.45021801e-03 9.95295738e-01 -1.36601734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19629675700001 meters 0.07057052233789798 Centerline is valid? [True, True] Translation: X:112.46, Y:-24.13, Z:-13.67 [[ 9.49406978e-01 -3.00506099e-01 9.12276023e-02 1.12463552e+02] [ 2.98940455e-01 9.53778064e-01 3.06921519e-02 -2.41309038e+01] [-9.62340648e-02 -1.86772216e-03 9.95356979e-01 -1.36659441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.226296757 meters 0.07103876448572871 Centerline is valid? [True, True] Translation: X:112.49, Y:-24.12, Z:-13.67 [[ 9.50307891e-01 -2.97900390e-01 9.03895421e-02 1.12488688e+02] [ 2.96351136e-01 9.54594612e-01 3.04159525e-02 -2.41185664e+01] [-9.53462941e-02 -2.11747613e-03 9.95441912e-01 -1.36704930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.256296757 meters 0.07194033360972597 Centerline is valid? [True, True] Translation: X:112.51, Y:-24.10, Z:-13.68 [[ 9.52051017e-01 -2.92372916e-01 9.00940516e-02 1.12513616e+02] [ 2.90807745e-01 9.56300641e-01 3.03304964e-02 -2.41039120e+01] [-9.50248150e-02 -2.67613193e-03 9.95471307e-01 -1.36763153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.286296757 meters 0.07192030813523993 Centerline is valid? [True, True] Translation: X:112.54, Y:-24.09, Z:-13.68 [[ 9.52920429e-01 -2.89926325e-01 8.87996701e-02 1.12541157e+02] [ 2.88394954e-01 9.57044629e-01 2.98986361e-02 -2.40949756e+01] [-9.36536490e-02 -2.88164442e-03 9.95600668e-01 -1.36791751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.316296757 meters 0.07250182210527586 Centerline is valid? [True, True] Translation: X:112.57, Y:-24.08, Z:-13.68 [[ 9.53747902e-01 -2.87509850e-01 8.77668785e-02 1.12568499e+02] [ 2.86003282e-01 9.57772704e-01 2.95562057e-02 -2.40835522e+01] [-9.25584208e-02 -3.08755386e-03 9.95702468e-01 -1.36828907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.346296757 meters 0.07348391116733538 Centerline is valid? [True, True] Translation: X:112.59, Y:-24.07, Z:-13.69 [[ 9.54915234e-01 -2.83926671e-01 8.67325909e-02 1.12594911e+02] [ 2.82440405e-01 9.58839976e-01 2.92115915e-02 -2.40705761e+01] [-9.14566253e-02 -3.39780562e-03 9.95803264e-01 -1.36882040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.376296757 meters 0.0739326571380199 Centerline is valid? [True, True] Translation: X:112.62, Y:-24.06, Z:-13.69 [[ 9.55112734e-01 -2.83098678e-01 8.72628429e-02 1.12622085e+02] [ 2.81590998e-01 9.59084418e-01 2.93868854e-02 -2.40600890e+01] [-9.20118213e-02 -3.49535743e-03 9.95751780e-01 -1.36916574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.406296757 meters 0.07422219771644722 Centerline is valid? [True, True] Translation: X:112.65, Y:-24.05, Z:-13.70 [[ 9.55199535e-01 -2.82908825e-01 8.69278149e-02 1.12648422e+02] [ 2.81409485e-01 9.59140326e-01 2.93007895e-02 -2.40512645e+01] [-9.16654246e-02 -3.52578892e-03 9.95783620e-01 -1.36951152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.43629675700001 meters 0.07449682829068972 Centerline is valid? [True, True] Translation: X:112.68, Y:-24.04, Z:-13.70 [[ 9.55401069e-01 -2.82424299e-01 8.62862189e-02 1.12675614e+02] [ 2.80944655e-01 9.59283019e-01 2.90893614e-02 -2.40428689e+01] [-9.09884471e-02 -3.55035503e-03 9.95845619e-01 -1.36980625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.46629675700001 meters 0.07346142461408074 Centerline is valid? [True, True] Translation: X:112.70, Y:-24.04, Z:-13.70 [[ 9.55318760e-01 -2.82830751e-01 8.58652091e-02 1.12703860e+02] [ 2.81365192e-01 9.59163390e-01 2.89693074e-02 -2.40390635e+01] [-9.05521760e-02 -3.51544178e-03 9.95885508e-01 -1.36989034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.49629675700001 meters 0.07443020222414955 Centerline is valid? [True, True] Translation: X:112.73, Y:-24.03, Z:-13.70 [[ 9.55315339e-01 -2.83123957e-01 8.49319080e-02 1.12728781e+02] [ 2.81688780e-01 9.59077024e-01 2.86826237e-02 -2.40271206e+01] [-8.95769795e-02 -3.47658488e-03 9.95973834e-01 -1.37042088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.52629675700001 meters 0.07368479390105763 Centerline is valid? [True, True] Translation: X:112.76, Y:-24.02, Z:-13.71 [[ 9.55075728e-01 -2.83863513e-01 8.51578580e-02 1.12757046e+02] [ 2.82421386e-01 9.58858526e-01 2.87834700e-02 -2.40214468e+01] [-8.98249150e-02 -3.43999323e-03 9.95951631e-01 -1.37058700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.55629675700001 meters 0.07399913753605059 Centerline is valid? [True, True] Translation: X:112.78, Y:-24.01, Z:-13.71 [[ 9.55061004e-01 -2.84100115e-01 8.45316650e-02 1.12783432e+02] [ 2.82677750e-01 9.58788530e-01 2.85979888e-02 -2.40120857e+01] [-8.91726827e-02 -3.41760302e-03 9.96010318e-01 -1.37101166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.586296757 meters 0.07271708408412593 Centerline is valid? [True, True] Translation: X:112.81, Y:-24.01, Z:-13.71 [[ 9.54887453e-01 -2.84722364e-01 8.43986269e-02 1.12812031e+02] [ 2.83306564e-01 9.58604142e-01 2.85567854e-02 -2.40084091e+01] [-8.90356287e-02 -3.35783104e-03 9.96022782e-01 -1.37105794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.616296757 meters 0.07304336025689395 Centerline is valid? [True, True] Translation: X:112.84, Y:-24.00, Z:-13.71 [[ 9.54456682e-01 -2.86117553e-01 8.45528714e-02 1.12839223e+02] [ 2.84699369e-01 9.58188971e-01 2.86385153e-02 -2.40004853e+01] [-8.92116108e-02 -3.26207321e-03 9.96007353e-01 -1.37141220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.646296757 meters 0.07269430956836283 Centerline is valid? [True, True] Translation: X:112.87, Y:-23.99, Z:-13.72 [[ 9.54291412e-01 -2.86825883e-01 8.40167508e-02 1.12866562e+02] [ 2.85426453e-01 9.57977398e-01 2.84788490e-02 -2.39938130e+01] [-8.86546194e-02 -3.19651788e-03 9.96057298e-01 -1.37163027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.676296757 meters 0.07294486927461005 Centerline is valid? [True, True] Translation: X:112.89, Y:-23.98, Z:-13.72 [[ 9.54206727e-01 -2.87088258e-01 8.40824247e-02 1.12892378e+02] [ 2.85684874e-01 9.57898775e-01 2.85322562e-02 -2.39845007e+01] [-8.87337273e-02 -3.20459385e-03 9.96050228e-01 -1.37205553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.706296757 meters 0.072432478681718 Centerline is valid? [True, True] Translation: X:112.92, Y:-23.98, Z:-13.72 [[ 9.53992481e-01 -2.87740547e-01 8.42835938e-02 1.12920303e+02] [ 2.86332580e-01 9.57703200e-01 2.86047854e-02 -2.39773776e+01] [-8.89494241e-02 -3.15561133e-03 9.96031145e-01 -1.37230733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.736296757 meters 0.07264232789859998 Centerline is valid? [True, True] Translation: X:112.95, Y:-23.97, Z:-13.73 [[ 9.54035710e-01 -2.87702470e-01 8.39234967e-02 1.12947657e+02] [ 2.86304317e-01 9.57714599e-01 2.85058774e-02 -2.39684924e+01] [-8.85759693e-02 -3.16796559e-03 9.96064386e-01 -1.37264533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.766296757 meters 0.07551692667761913 Centerline is valid? [True, True] Translation: X:112.97, Y:-23.95, Z:-13.74 [[ 9.54456410e-01 -2.86341997e-01 8.37927288e-02 1.12969886e+02] [ 2.84940565e-01 9.58121741e-01 2.84886701e-02 -2.39512753e+01] [-8.84411378e-02 -3.31524631e-03 9.96075888e-01 -1.37361155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.79629675700001 meters 0.0736333609449251 Centerline is valid? [True, True] Translation: X:113.00, Y:-23.95, Z:-13.74 [[ 9.54892131e-01 -2.85154916e-01 8.28715470e-02 1.12999396e+02] [ 2.83779382e-01 9.58475442e-01 2.81795825e-02 -2.39482475e+01] [-8.74658892e-02 -3.39122525e-03 9.96161743e-01 -1.37351469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.82629675700001 meters 0.07431423140290748 Centerline is valid? [True, True] Translation: X:113.03, Y:-23.94, Z:-13.74 [[ 9.55864493e-01 -2.81933952e-01 8.26820336e-02 1.13025957e+02] [ 2.80550270e-01 9.59426665e-01 2.81428651e-02 -2.39355322e+01] [-8.72617769e-02 -3.70429860e-03 9.96178528e-01 -1.37400440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.85629675700001 meters 0.07829250710293585 Centerline is valid? [True, True] Translation: X:113.05, Y:-23.91, Z:-13.75 [[ 9.56222678e-01 -2.80481140e-01 8.34776671e-02 1.13047706e+02] [ 2.79065041e-01 9.59851715e-01 2.84145738e-02 -2.39147968e+01] [-8.80959339e-02 -3.87496118e-03 9.96104458e-01 -1.37490868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.88629675700001 meters 0.07551512862121326 Centerline is valid? [True, True] Translation: X:113.08, Y:-23.91, Z:-13.75 [[ 9.56632668e-01 -2.79135634e-01 8.32900775e-02 1.13078187e+02] [ 2.77720001e-01 9.60243358e-01 2.83600791e-02 -2.39138382e+01] [-8.78950524e-02 -3.99885769e-03 9.96121714e-01 -1.37466242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.91629675700001 meters 0.07595633589953325 Centerline is valid? [True, True] Translation: X:113.11, Y:-23.90, Z:-13.75 [[ 9.56877335e-01 -2.78595733e-01 8.22811189e-02 1.13105501e+02] [ 2.77210372e-01 9.60400050e-01 2.80384347e-02 -2.39046171e+01] [-8.68341790e-02 -4.02016313e-03 9.96214667e-01 -1.37503694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94629675700001 meters 0.07613086872376842 Centerline is valid? [True, True] Translation: X:113.13, Y:-23.90, Z:-13.75 [[ 9.57055146e-01 -2.78386788e-01 8.09088670e-02 1.13132520e+02] [ 2.77044426e-01 9.60460738e-01 2.75963083e-02 -2.38963170e+01] [-8.53922378e-02 -3.99583816e-03 9.96339400e-01 -1.37528177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.976296757 meters 0.07678687521900253 Centerline is valid? [True, True] Translation: X:113.16, Y:-23.89, Z:-13.76 [[ 9.57204348e-01 -2.78313682e-01 7.93809218e-02 1.13158293e+02] [ 2.77020780e-01 9.60482183e-01 2.70825525e-02 -2.38875081e+01] [-8.37814059e-02 -3.93337220e-03 9.96476394e-01 -1.37573241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.006296757 meters 0.0771765623615106 Centerline is valid? [True, True] Translation: X:113.18, Y:-23.88, Z:-13.76 [[ 9.57091657e-01 -2.79019339e-01 7.82545136e-02 1.13183935e+02] [ 2.77764693e-01 9.60277872e-01 2.67055040e-02 -2.38782789e+01] [-8.25974299e-02 -3.82327405e-03 9.96575661e-01 -1.37612635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.036296757 meters 0.07584663271140063 Centerline is valid? [True, True] Translation: X:113.21, Y:-23.87, Z:-13.76 [[ 9.57117205e-01 -2.79286349e-01 7.69791550e-02 1.13212604e+02] [ 2.78072643e-01 9.60200559e-01 2.62772066e-02 -2.38740456e+01] [-8.12542927e-02 -3.74456940e-03 9.96686369e-01 -1.37619811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.066296757 meters 0.07575576423734806 Centerline is valid? [True, True] Translation: X:113.24, Y:-23.86, Z:-13.77 [[ 9.56697499e-01 -2.80597157e-01 7.74282357e-02 1.13240068e+02] [ 2.79373272e-01 9.59818660e-01 2.64332105e-02 -2.38649327e+01] [-8.17341492e-02 -3.65720682e-03 9.96647457e-01 -1.37653967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.096296757 meters 0.07569911244956044 Centerline is valid? [True, True] Translation: X:113.27, Y:-23.86, Z:-13.77 [[ 9.56521615e-01 -2.80962242e-01 7.82727250e-02 1.13267685e+02] [ 2.79710859e-01 9.59711741e-01 2.67434079e-02 -2.38571592e+01] [-8.26331410e-02 -3.68691652e-03 9.96573214e-01 -1.37680581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.126296757 meters 0.0766721825283564 Centerline is valid? [True, True] Translation: X:113.29, Y:-23.85, Z:-13.77 [[ 9.56475179e-01 -2.80951703e-01 7.88756813e-02 1.13292548e+02] [ 2.79678662e-01 9.59714613e-01 2.69760694e-02 -2.38460026e+01] [-8.32771166e-02 -3.74209575e-03 9.96519402e-01 -1.37728447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.156296757 meters 0.07560200021403835 Centerline is valid? [True, True] Translation: X:113.32, Y:-23.84, Z:-13.77 [[ 9.56471353e-01 -2.81061662e-01 7.85295687e-02 1.13321527e+02] [ 2.79799935e-01 9.59682507e-01 2.68604357e-02 -2.38399144e+01] [-8.29128920e-02 -3.71866903e-03 9.96549860e-01 -1.37735376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.18629675700001 meters 0.07575154296419497 Centerline is valid? [True, True] Translation: X:113.35, Y:-23.83, Z:-13.78 [[ 9.56205219e-01 -2.81107786e-01 8.15474843e-02 1.13348105e+02] [ 2.79744725e-01 9.59668336e-01 2.79208495e-02 -2.38293266e+01] [-8.61073068e-02 -3.88558344e-03 9.96278291e-01 -1.37762830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.21629675700001 meters 0.07544026167231395 Centerline is valid? [True, True] Translation: X:113.38, Y:-23.82, Z:-13.78 [[ 9.55958352e-01 -2.81402359e-01 8.34046852e-02 1.13375279e+02] [ 2.79977267e-01 9.59581738e-01 2.85590385e-02 -2.38200833e+01] [-8.80701936e-02 -3.94983552e-03 9.96106440e-01 -1.37786060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.24629675700001 meters 0.07562681135264349 Centerline is valid? [True, True] Translation: X:113.40, Y:-23.81, Z:-13.78 [[ 9.55775591e-01 -2.81241653e-01 8.60008815e-02 1.13400901e+02] [ 2.79723057e-01 9.59628154e-01 2.94757169e-02 -2.38099102e+01] [-9.08186664e-02 -4.11574128e-03 9.95858941e-01 -1.37801628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.27629675700001 meters 0.07585567201418376 Centerline is valid? [True, True] Translation: X:113.43, Y:-23.80, Z:-13.78 [[ 9.55896716e-01 -2.80751731e-01 8.62550541e-02 1.13427696e+02] [ 2.79221689e-01 9.59771326e-01 2.95677169e-02 -2.38003965e+01] [-9.10863154e-02 -4.17940150e-03 9.95834231e-01 -1.37831195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.30629675700001 meters 0.07536439924492644 Centerline is valid? [True, True] Translation: X:113.46, Y:-23.79, Z:-13.79 [[ 9.55991129e-01 -2.80642456e-01 8.55615176e-02 1.13455191e+02] [ 2.79134496e-01 9.59803292e-01 2.93525760e-02 -2.37925308e+01] [-9.03598052e-02 -4.17763114e-03 9.95900423e-01 -1.37858205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.336296757 meters 0.07629845327957205 Centerline is valid? [True, True] Translation: X:113.48, Y:-23.78, Z:-13.79 [[ 9.56108782e-01 -2.80804967e-01 8.36932993e-02 1.13479280e+02] [ 2.79360719e-01 9.59756118e-01 2.87364545e-02 -2.37803719e+01] [-8.83944952e-02 -4.09455628e-03 9.96077129e-01 -1.37930455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.366296757 meters 0.07575114395349228 Centerline is valid? [True, True] Translation: X:113.51, Y:-23.77, Z:-13.80 [[ 9.56123148e-01 -2.81156948e-01 8.23364804e-02 1.13507167e+02] [ 2.79759572e-01 9.59653437e-01 2.82818563e-02 -2.37719893e+01] [-8.69661268e-02 -4.00651897e-03 9.96203213e-01 -1.37966047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.396296757 meters 0.07759465790145934 Centerline is valid? [True, True] Translation: X:113.53, Y:-23.76, Z:-13.80 [[ 9.55901958e-01 -2.82565970e-01 8.00494864e-02 1.13530334e+02] [ 2.81248120e-01 9.59240366e-01 2.75211791e-02 -2.37589160e+01] [-8.45632473e-02 -3.79378143e-03 9.96410891e-01 -1.38048802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.426296757 meters 0.07558783861813184 Centerline is valid? [True, True] Translation: X:113.56, Y:-23.76, Z:-13.80 [[ 9.55457564e-01 -2.84125172e-01 7.98356452e-02 1.13559504e+02] [ 2.82819167e-01 9.58780237e-01 2.74549933e-02 -2.37551173e+01] [-8.43454935e-02 -3.65303033e-03 9.96429874e-01 -1.38048885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.456296757 meters 0.0754484359905862 Centerline is valid? [True, True] Translation: X:113.59, Y:-23.75, Z:-13.81 [[ 9.55210191e-01 -2.85279800e-01 7.86697283e-02 1.13585734e+02] [ 2.84013972e-01 9.58437822e-01 2.70740733e-02 -2.37468842e+01] [-8.31237293e-02 -3.51812870e-03 9.96533024e-01 -1.38091543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.486296757 meters 0.07571313290520737 Centerline is valid? [True, True] Translation: X:113.61, Y:-23.74, Z:-13.81 [[ 9.55042885e-01 -2.85711633e-01 7.91324874e-02 1.13610956e+02] [ 2.84429848e-01 9.58309139e-01 2.72627100e-02 -2.37366314e+01] [-8.36226593e-02 -3.52941588e-03 9.96491241e-01 -1.38128876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.516296757 meters 0.07601806260721874 Centerline is valid? [True, True] Translation: X:113.64, Y:-23.73, Z:-13.82 [[ 9.54839040e-01 -2.86020363e-01 8.04658928e-02 1.13636942e+02] [ 2.84695274e-01 9.58216889e-01 2.77307478e-02 -2.37255776e+01] [-8.50353360e-02 -3.57014122e-03 9.96371540e-01 -1.38165568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.54629675700001 meters 0.07651278178539107 Centerline is valid? [True, True] Translation: X:113.66, Y:-23.71, Z:-13.82 [[ 9.55011321e-01 -2.85335143e-01 8.08531524e-02 1.13662710e+02] [ 2.83992926e-01 9.58420779e-01 2.78859947e-02 -2.37121153e+01] [-8.54481956e-02 -3.66971736e-03 9.96335857e-01 -1.38202003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.57629675700001 meters 0.07692615618443813 Centerline is valid? [True, True] Translation: X:113.69, Y:-23.70, Z:-13.82 [[ 9.55075911e-01 -2.85029705e-01 8.11669380e-02 1.13689143e+02] [ 2.83674089e-01 9.58511418e-01 2.80155781e-02 -2.37002542e+01] [-8.57847088e-02 -3.73204659e-03 9.96306708e-01 -1.38243560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.60629675700001 meters 0.0761804423958395 Centerline is valid? [True, True] Translation: X:113.72, Y:-23.69, Z:-13.83 [[ 9.55076629e-01 -2.84766093e-01 8.20786501e-02 1.13716314e+02] [ 2.83377014e-01 9.58589429e-01 2.83509009e-02 -2.36923378e+01] [-8.67531017e-02 -3.81808008e-03 9.96222526e-01 -1.38260367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.63629675700001 meters 0.07663096141491994 Centerline is valid? [True, True] Translation: X:113.74, Y:-23.68, Z:-13.83 [[ 9.55291498e-01 -2.84196479e-01 8.15506906e-02 1.13742028e+02] [ 2.82820576e-01 9.58758236e-01 2.81986966e-02 -2.36813359e+01] [-8.62013666e-02 -3.87376186e-03 9.96270204e-01 -1.38284871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.66629675700001 meters 0.07568120016929515 Centerline is valid? [True, True] Translation: X:113.77, Y:-23.67, Z:-13.83 [[ 9.55284630e-01 -2.83930706e-01 8.25507713e-02 1.13769335e+02] [ 2.82519530e-01 9.58836671e-01 2.85473894e-02 -2.36733221e+01] [-8.72581872e-02 -3.94867726e-03 9.96177904e-01 -1.38280000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69629675700001 meters 0.07613232186447905 Centerline is valid? [True, True] Translation: X:113.79, Y:-23.66, Z:-13.83 [[ 9.55704160e-01 -2.82573395e-01 8.23518967e-02 1.13794519e+02] [ 2.81161392e-01 9.59236955e-01 2.85085317e-02 -2.36602932e+01] [-8.70507352e-02 -4.09154849e-03 9.96195477e-01 -1.38319548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.726296757 meters 0.07717772896139463 Centerline is valid? [True, True] Translation: X:113.82, Y:-23.65, Z:-13.84 [[ 9.56237769e-01 -2.81081345e-01 8.12564311e-02 1.13819324e+02] [ 2.79700198e-01 9.59674826e-01 2.81429751e-02 -2.36462973e+01] [-8.58902167e-02 -4.18393585e-03 9.96295822e-01 -1.38371797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.756296757 meters 0.07731879348858253 Centerline is valid? [True, True] Translation: X:113.85, Y:-23.63, Z:-13.84 [[ 9.56607483e-01 -2.80008537e-01 8.06060970e-02 1.13845785e+02] [ 2.78645554e-01 9.59988115e-01 2.79190597e-02 -2.36349045e+01] [-8.51984702e-02 -4.24705091e-03 9.96354948e-01 -1.38413098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.786296757 meters 0.07864675976801448 Centerline is valid? [True, True] Translation: X:113.87, Y:-23.62, Z:-13.85 [[ 9.57390074e-01 -2.77831546e-01 7.88281551e-02 1.13870541e+02] [ 2.76518559e-01 9.60619879e-01 2.73301075e-02 -2.36209659e+01] [-8.33170588e-02 -4.36812578e-03 9.96513516e-01 -1.38468793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.816296757 meters 0.07887879394130287 Centerline is valid? [True, True] Translation: X:113.90, Y:-23.61, Z:-13.85 [[ 9.57157069e-01 -2.78286009e-01 8.00452540e-02 1.13896420e+02] [ 2.76933313e-01 9.60488178e-01 2.77560959e-02 -2.36104208e+01] [-8.46066533e-02 -4.39974602e-03 9.96404715e-01 -1.38499829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.846296757 meters 0.07845796837981081 Centerline is valid? [True, True] Translation: X:113.92, Y:-23.60, Z:-13.85 [[ 9.56640019e-01 -2.79947857e-01 8.04305376e-02 1.13922567e+02] [ 2.78587257e-01 9.60005662e-01 2.78974765e-02 -2.36015781e+01] [-8.50236103e-02 -4.28091961e-03 9.96369740e-01 -1.38520428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.876296757 meters 0.0761069730602322 Centerline is valid? [True, True] Translation: X:113.95, Y:-23.60, Z:-13.85 [[ 9.56236524e-01 -2.81286396e-01 8.05585081e-02 1.13952706e+02] [ 2.79925876e-01 9.59614797e-01 2.79454066e-02 -2.35976951e+01] [-8.51657990e-02 -4.17200751e-03 9.96358059e-01 -1.38512911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.906296757 meters 0.07658070994652016 Centerline is valid? [True, True] Translation: X:113.98, Y:-23.59, Z:-13.86 [[ 9.55639894e-01 -2.82830505e-01 8.22149529e-02 1.13978382e+02] [ 2.81416702e-01 9.59160954e-01 2.85465149e-02 -2.35856089e+01] [-8.69311979e-02 -4.14352760e-03 9.96205701e-01 -1.38553570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.93629675700001 meters 0.0754240710398235 Centerline is valid? [True, True] Translation: X:114.01, Y:-23.58, Z:-13.86 [[ 9.54835415e-01 -2.85046896e-01 8.38903864e-02 1.14006128e+02] [ 2.83582760e-01 9.58505108e-01 2.91337680e-02 -2.35758965e+01] [-8.87138540e-02 -4.02808612e-03 9.96049008e-01 -1.38584751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96629675700001 meters 0.07509548788696387 Centerline is valid? [True, True] Translation: X:114.03, Y:-23.57, Z:-13.86 [[ 9.54597781e-01 -2.85856180e-01 8.38410493e-02 1.14033529e+02] [ 2.84396796e-01 9.58264384e-01 2.91175570e-02 -2.35661123e+01] [-8.86653251e-02 -3.95142950e-03 9.96053636e-01 -1.38621519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99629675700001 meters 0.07509548788696387 Centerline is valid? [True, True] Translation: X:114.06, Y:-23.56, Z:-13.87 [[ 9.54519495e-01 -2.86118265e-01 8.38383728e-02 1.14059445e+02] [ 2.84659212e-01 9.58186230e-01 2.91252622e-02 -2.35569872e+01] [-8.86660439e-02 -3.93526536e-03 9.96053636e-01 -1.38652372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02629675700001 meters 0.07483338486454626 Centerline is valid? [True, True] Translation: X:114.09, Y:-23.55, Z:-13.87 [[ 9.54097678e-01 -2.87297193e-01 8.46046339e-02 1.14085434e+02] [ 2.85813121e-01 9.57833590e-01 2.94223421e-02 -2.35476941e+01] [-8.94901165e-02 -3.89067385e-03 9.95980111e-01 -1.38685585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05629675700001 meters 0.07415127540197804 Centerline is valid? [True, True] Translation: X:114.11, Y:-23.54, Z:-13.87 [[ 9.53735577e-01 -2.88285389e-01 8.53228224e-02 1.14113396e+02] [ 2.86779424e-01 9.57536853e-01 2.96772238e-02 -2.35387073e+01] [-9.02552569e-02 -3.83539430e-03 9.95911280e-01 -1.38709875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.086296757 meters 0.07391663995584098 Centerline is valid? [True, True] Translation: X:114.14, Y:-23.53, Z:-13.87 [[ 9.53605574e-01 -2.88893653e-01 8.47163948e-02 1.14139928e+02] [ 2.87409692e-01 9.57353773e-01 2.94859598e-02 -2.35293303e+01] [-8.96218668e-02 -3.76966264e-03 9.95968730e-01 -1.38740916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.116296757 meters 0.07375521464994099 Centerline is valid? [True, True] Translation: X:114.17, Y:-23.52, Z:-13.88 [[ 9.53305314e-01 -2.89532552e-01 8.59062208e-02 1.14166013e+02] [ 2.88006562e-01 9.57160669e-01 2.99278145e-02 -2.35160961e+01] [-9.08911323e-02 -3.78878933e-03 9.95853627e-01 -1.38776597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.146296757 meters 0.07385331762472688 Centerline is valid? [True, True] Translation: X:114.19, Y:-23.51, Z:-13.88 [[ 9.53246379e-01 -2.89757959e-01 8.58001522e-02 1.14191517e+02] [ 2.88234620e-01 9.57092475e-01 2.99131671e-02 -2.35051157e+01] [-9.07862583e-02 -3.78404391e-03 9.95863212e-01 -1.38811020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.176296757 meters 0.07258947899119872 Centerline is valid? [True, True] Translation: X:114.22, Y:-23.50, Z:-13.88 [[ 9.53115037e-01 -2.90277142e-01 8.55038390e-02 1.14219770e+02] [ 2.88764082e-01 9.56935288e-01 2.98355244e-02 -2.34986601e+01] [-9.04822116e-02 -3.74624932e-03 9.95891026e-01 -1.38808949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.206296757 meters 0.07302771330722287 Centerline is valid? [True, True] Translation: X:114.25, Y:-23.49, Z:-13.88 [[ 9.53181072e-01 -2.90398808e-01 8.43467660e-02 1.14245543e+02] [ 2.88924169e-01 9.56898499e-01 2.94633054e-02 -2.34873082e+01] [-8.92674026e-02 -3.71404579e-03 9.96000771e-01 -1.38844531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.236296757 meters 0.072943340784021 Centerline is valid? [True, True] Translation: X:114.27, Y:-23.47, Z:-13.89 [[ 9.52832018e-01 -2.91493460e-01 8.45145440e-02 1.14271355e+02] [ 2.90016797e-01 9.56565959e-01 2.95266445e-02 -2.34747964e+01] [-8.94505597e-02 -3.62329490e-03 9.95984673e-01 -1.38877717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.266296757 meters 0.07337093231905197 Centerline is valid? [True, True] Translation: X:114.30, Y:-23.46, Z:-13.89 [[ 9.52866660e-01 -2.91687500e-01 8.34477680e-02 1.14296749e+02] [ 2.90246349e-01 9.56506953e-01 2.91805646e-02 -2.34640099e+01] [-8.83299763e-02 -3.58477716e-03 9.96084818e-01 -1.38919115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.29629675700001 meters 0.07379437054724773 Centerline is valid? [True, True] Translation: X:114.32, Y:-23.45, Z:-13.90 [[ 9.52963253e-01 -2.92010639e-01 8.11838963e-02 1.14321773e+02] [ 2.90647342e-01 9.56408795e-01 2.83961082e-02 -2.34533005e+01] [-8.59369581e-02 -3.46456400e-03 9.96294553e-01 -1.38960292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.32629675700001 meters 0.07338109796176086 Centerline is valid? [True, True] Translation: X:114.35, Y:-23.45, Z:-13.90 [[ 9.53018502e-01 -2.92057042e-01 8.03642923e-02 1.14349050e+02] [ 2.90720925e-01 9.56394751e-01 2.81144915e-02 -2.34450095e+01] [-8.50710225e-02 -3.43004916e-03 9.96368986e-01 -1.38987102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.35629675700001 meters 0.07360949506145731 Centerline is valid? [True, True] Translation: X:114.37, Y:-23.43, Z:-13.90 [[ 9.52984420e-01 -2.92120300e-01 8.05383443e-02 1.14374421e+02] [ 2.90776804e-01 9.56375352e-01 2.81963995e-02 -2.34334872e+01] [-8.52616280e-02 -3.45204710e-03 9.96352617e-01 -1.39021406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.38629675700001 meters 0.07322042721304227 Centerline is valid? [True, True] Translation: X:114.40, Y:-23.42, Z:-13.90 [[ 9.52787083e-01 -2.92728471e-01 8.06648385e-02 1.14401639e+02] [ 2.91380688e-01 9.56189464e-01 2.82666433e-02 -2.34244078e+01] [-8.54053200e-02 -3.42791643e-03 9.96340394e-01 -1.39042808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.41629675700001 meters 0.07254801381320813 Centerline is valid? [True, True] Translation: X:114.43, Y:-23.42, Z:-13.91 [[ 9.52349786e-01 -2.93923828e-01 8.14780246e-02 1.14429918e+02] [ 2.92551072e-01 9.55822884e-01 2.85742112e-02 -2.34168568e+01] [-8.62772019e-02 -3.37616047e-03 9.96265450e-01 -1.39063076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44629675700001 meters 0.07240553577374689 Centerline is valid? [True, True] Translation: X:114.46, Y:-23.41, Z:-13.91 [[ 9.51404168e-01 -2.96878646e-01 8.18118477e-02 1.14457960e+02] [ 2.95502961e-01 9.54910024e-01 2.87201250e-02 -2.34090973e+01] [-8.66493453e-02 -3.14880345e-03 9.96233896e-01 -1.39092031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.476296757 meters 0.0716511831835956 Centerline is valid? [True, True] Translation: X:114.49, Y:-23.40, Z:-13.91 [[ 9.50783139e-01 -2.99115440e-01 8.08787737e-02 1.14486743e+02] [ 2.97779326e-01 9.54212500e-01 2.83897624e-02 -2.34028948e+01] [-8.56673531e-02 -2.90848071e-03 9.96319550e-01 -1.39108597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.506296757 meters 0.07117588705649085 Centerline is valid? [True, True] Translation: X:114.52, Y:-23.40, Z:-13.91 [[ 9.49594142e-01 -3.02903977e-01 8.07474265e-02 1.14515705e+02] [ 3.01583383e-01 9.53017561e-01 2.83723673e-02 -2.33960954e+01] [-8.55478184e-02 -2.59015168e-03 9.96330699e-01 -1.39132871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.536296757 meters 0.07099551079852236 Centerline is valid? [True, True] Translation: X:114.54, Y:-23.39, Z:-13.92 [[ 9.48795050e-01 -3.05272234e-01 8.12207883e-02 1.14542794e+02] [ 3.03944525e-01 9.52262116e-01 2.85410057e-02 -2.33876811e+01] [-8.60562563e-02 -2.39295108e-03 9.96287406e-01 -1.39173541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.566296757 meters 0.07088551357556788 Centerline is valid? [True, True] Translation: X:114.57, Y:-23.38, Z:-13.92 [[ 9.48040796e-01 -3.07863906e-01 8.02400427e-02 1.14569768e+02] [ 3.06577277e-01 9.51428015e-01 2.81976321e-02 -2.33795240e+01] [-8.50236576e-02 -2.13273181e-03 9.96376650e-01 -1.39209362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.596296757 meters 0.07036097265600724 Centerline is valid? [True, True] Translation: X:114.60, Y:-23.37, Z:-13.92 [[ 9.46455166e-01 -3.12743639e-01 8.00876669e-02 1.14599169e+02] [ 3.11477377e-01 9.49836029e-01 2.81666837e-02 -2.33742794e+01] [-8.48791026e-02 -1.71300691e-03 9.96389785e-01 -1.39236577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.626296757 meters 0.07023789858256228 Centerline is valid? [True, True] Translation: X:114.63, Y:-23.37, Z:-13.93 [[ 9.45691787e-01 -3.15063956e-01 8.00109205e-02 1.14627439e+02] [ 3.13806728e-01 9.49069221e-01 2.81593802e-02 -2.33671702e+01] [-8.48079077e-02 -1.52212945e-03 9.96396157e-01 -1.39265857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.656296757 meters 0.07016101163946811 Centerline is valid? [True, True] Translation: X:114.65, Y:-23.36, Z:-13.93 [[ 9.44732455e-01 -3.17818915e-01 8.04470328e-02 1.14654515e+02] [ 3.16555632e-01 9.48150531e-01 2.83390629e-02 -2.33610043e+01] [-8.52825871e-02 -1.30687111e-03 9.96355947e-01 -1.39284728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68629675700001 meters 0.070030028533414 Centerline is valid? [True, True] Translation: X:114.68, Y:-23.35, Z:-13.93 [[ 9.44467123e-01 -3.18587855e-01 8.05210077e-02 1.14681127e+02] [ 3.17324818e-01 9.47892525e-01 2.83676087e-02 -2.33530932e+01] [-8.53628369e-02 -1.24095968e-03 9.96349159e-01 -1.39304599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71629675700001 meters 0.07028482040717376 Centerline is valid? [True, True] Translation: X:114.71, Y:-23.34, Z:-13.93 [[ 9.44404779e-01 -3.18532994e-01 8.14637668e-02 1.14707278e+02] [ 3.17237331e-01 9.47910897e-01 2.87298851e-02 -2.33431937e+01] [-8.63718087e-02 -1.28929282e-03 9.96262138e-01 -1.39349766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.74629675700001 meters 0.070312781809066 Centerline is valid? [True, True] Translation: X:114.73, Y:-23.33, Z:-13.94 [[ 9.44574828e-01 -3.17894729e-01 8.19837507e-02 1.14732893e+02] [ 3.16579778e-01 9.48125041e-01 2.89162555e-02 -2.33327609e+01] [-8.69231722e-02 -1.35916947e-03 9.96214091e-01 -1.39375717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.77629675700001 meters 0.07055994687136613 Centerline is valid? [True, True] Translation: X:114.76, Y:-23.32, Z:-13.94 [[ 9.45241197e-01 -3.15952393e-01 8.18117652e-02 1.14759290e+02] [ 3.14633505e-01 9.48773765e-01 2.88808083e-02 -2.33217892e+01] [-8.67458169e-02 -1.55860737e-03 9.96229258e-01 -1.39400710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.80629675700001 meters 0.0708025285474459 Centerline is valid? [True, True] Translation: X:114.79, Y:-23.31, Z:-13.94 [[ 9.45539917e-01 -3.15117234e-01 8.15805991e-02 1.14786232e+02] [ 3.13800855e-01 9.49051318e-01 2.88204726e-02 -2.33118635e+01] [-8.65060027e-02 -1.65084547e-03 9.96249962e-01 -1.39436932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.836296757 meters 0.07136736622351336 Centerline is valid? [True, True] Translation: X:114.81, Y:-23.30, Z:-13.95 [[ 9.46395923e-01 -3.13152544e-01 7.91848581e-02 1.14812320e+02] [ 3.11903493e-01 9.49701133e-01 2.79994483e-02 -2.33011470e+01] [-8.39700479e-02 -1.80052985e-03 9.96466652e-01 -1.39494006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.866296757 meters 0.07143739714967713 Centerline is valid? [True, True] Translation: X:114.84, Y:-23.29, Z:-13.95 [[ 9.46675877e-01 -3.12489471e-01 7.84545347e-02 1.14839026e+02] [ 3.11261234e-01 9.49919440e-01 2.77399100e-02 -2.32913489e+01] [-8.31939174e-02 -1.84084836e-03 9.96531677e-01 -1.39521330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.896296757 meters 0.07171286120410897 Centerline is valid? [True, True] Translation: X:114.87, Y:-23.28, Z:-13.96 [[ 9.46979281e-01 -3.11429292e-01 7.90065597e-02 1.14865467e+02] [ 3.10178216e-01 9.50267291e-01 2.79562325e-02 -2.32798028e+01] [-8.37837391e-02 -1.96785922e-03 9.96482018e-01 -1.39562501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.926296757 meters 0.07237836967713682 Centerline is valid? [True, True] Translation: X:114.89, Y:-23.27, Z:-13.96 [[ 9.47870884e-01 -3.08676286e-01 7.91185042e-02 1.14889308e+02] [ 3.07409978e-01 9.51164518e-01 2.80207877e-02 -2.32665012e+01] [-8.39040666e-02 -2.23827112e-03 9.96471323e-01 -1.39613726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.956296757 meters 0.07269663506200597 Centerline is valid? [True, True] Translation: X:114.91, Y:-23.26, Z:-13.96 [[ 9.48191129e-01 -3.07606024e-01 7.94488301e-02 1.14914348e+02] [ 3.06324700e-01 9.51510909e-01 2.81454745e-02 -2.32557869e+01] [-8.42541461e-02 -2.35015025e-03 9.96441526e-01 -1.39645629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.986296757 meters 0.07292401870462732 Centerline is valid? [True, True] Translation: X:114.94, Y:-23.25, Z:-13.97 [[ 9.48338728e-01 -3.07397784e-01 7.84873160e-02 1.14940259e+02] [ 3.06145431e-01 9.51578196e-01 2.78192732e-02 -2.32463220e+01] [-8.32384015e-02 -2.35356093e-03 9.96526883e-01 -1.39681049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.016296757 meters 0.07203418476838154 Centerline is valid? [True, True] Translation: X:114.97, Y:-23.24, Z:-13.97 [[ 9.48285111e-01 -3.07414315e-01 7.90682442e-02 1.14969895e+02] [ 3.06143168e-01 9.51572810e-01 2.80276293e-02 -2.32409382e+01] [-8.38552858e-02 -2.37198083e-03 9.96475120e-01 -1.39665436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.04629675700001 meters 0.073308667167126 Centerline is valid? [True, True] Translation: X:114.99, Y:-23.23, Z:-13.97 [[ 9.48552107e-01 -3.06610786e-01 7.89856096e-02 1.14993986e+02] [ 3.05337287e-01 9.51831784e-01 2.80249082e-02 -2.32271771e+01] [-8.37737529e-02 -2.46583392e-03 9.96481750e-01 -1.39747809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07629675700001 meters 0.07221603270711976 Centerline is valid? [True, True] Translation: X:115.02, Y:-23.22, Z:-13.97 [[ 9.48450703e-01 -3.06708322e-01 7.98202335e-02 1.15023191e+02] [ 3.05407765e-01 9.51800306e-01 2.83244741e-02 -2.32215351e+01] [-8.46602745e-02 -2.48664825e-03 9.96406772e-01 -1.39738313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10629675700001 meters 0.07338066999495597 Centerline is valid? [True, True] Translation: X:115.05, Y:-23.21, Z:-13.98 [[ 9.48727681e-01 -3.05891792e-01 7.96617716e-02 1.15046986e+02] [ 3.04591276e-01 9.52062790e-01 2.82948537e-02 -2.32082877e+01] [-8.44981720e-02 -2.57983028e-03 9.96420295e-01 -1.39818962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13629675700001 meters 0.07278477035247459 Centerline is valid? [True, True] Translation: X:115.07, Y:-23.20, Z:-13.98 [[ 9.48653561e-01 -3.06052229e-01 7.99278047e-02 1.15074953e+02] [ 3.04743305e-01 9.52011235e-01 2.83923616e-02 -2.32013044e+01] [-8.47817137e-02 -2.57705160e-03 9.96396216e-01 -1.39827773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16629675700001 meters 0.07236921907083813 Centerline is valid? [True, True] Translation: X:115.10, Y:-23.20, Z:-13.98 [[ 9.48265330e-01 -3.06994114e-01 8.09164867e-02 1.15103706e+02] [ 3.05653878e-01 9.51708005e-01 2.87676893e-02 -2.31954908e+01] [-8.58403794e-02 -2.54696441e-03 9.96305647e-01 -1.39836692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19629675700001 meters 0.07203676482596234 Centerline is valid? [True, True] Translation: X:115.13, Y:-23.19, Z:-13.99 [[ 9.47815425e-01 -3.08141397e-01 8.18217572e-02 1.15131340e+02] [ 3.06773204e-01 9.51337305e-01 2.91124381e-02 -2.31881405e+01] [-8.68108373e-02 -2.49249521e-03 9.96221695e-01 -1.39859275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.226296757 meters 0.07173436465050874 Centerline is valid? [True, True] Translation: X:115.16, Y:-23.18, Z:-13.99 [[ 9.47492942e-01 -3.09310477e-01 8.11427920e-02 1.15158220e+02] [ 3.07967395e-01 9.50958116e-01 2.88919768e-02 -2.31813346e+01] [-8.60999877e-02 -2.38560989e-03 9.96283645e-01 -1.39879243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.256296757 meters 0.07149116317762667 Centerline is valid? [True, True] Translation: X:115.19, Y:-23.18, Z:-13.99 [[ 9.46505144e-01 -3.12627030e-01 7.99521893e-02 1.15186313e+02] [ 3.11332715e-01 9.49873687e-01 2.84941940e-02 -2.31756534e+01] [-8.48525361e-02 -2.07816907e-03 9.96391353e-01 -1.39914136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.286296757 meters 0.07148707843917196 Centerline is valid? [True, True] Translation: X:115.21, Y:-23.17, Z:-14.00 [[ 9.45875454e-01 -3.14608309e-01 7.96318866e-02 1.15213022e+02] [ 3.13329702e-01 9.49219657e-01 2.83996394e-02 -2.31670866e+01] [-8.45229147e-02 -1.91148647e-03 9.96419702e-01 -1.39962257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.316296757 meters 0.07153710941094596 Centerline is valid? [True, True] Translation: X:115.24, Y:-23.16, Z:-14.00 [[ 9.44789726e-01 -3.18111049e-01 7.85985588e-02 1.15240960e+02] [ 3.16875781e-01 9.48052113e-01 2.80522870e-02 -2.31604827e+01] [-8.34392721e-02 -1.59753280e-03 9.96511583e-01 -1.40011839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.346296757 meters 0.07137339577122874 Centerline is valid? [True, True] Translation: X:115.27, Y:-23.15, Z:-14.00 [[ 9.44324960e-01 -3.19647332e-01 7.79484052e-02 1.15268284e+02] [ 3.18436032e-01 9.47535449e-01 2.78400196e-02 -2.31530274e+01] [-8.27578651e-02 -1.46844450e-03 9.96568602e-01 -1.40045320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.376296757 meters 0.07130290592330753 Centerline is valid? [True, True] Translation: X:115.30, Y:-23.15, Z:-14.01 [[ 9.43620473e-01 -3.21611762e-01 7.83981929e-02 1.15296565e+02] [ 3.20391030e-01 9.46870694e-01 2.80263670e-02 -2.31462275e+01] [-8.32465606e-02 -1.32817592e-03 9.96528096e-01 -1.40067130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.406296757 meters 0.07086226540073927 Centerline is valid? [True, True] Translation: X:115.32, Y:-23.14, Z:-14.01 [[ 9.42387101e-01 -3.25247038e-01 7.82362843e-02 1.15324495e+02] [ 3.24041643e-01 9.45628523e-01 2.79948222e-02 -2.31421172e+01] [-8.30876950e-02 -1.03014518e-03 9.96541707e-01 -1.40072118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43629675700001 meters 0.07065537818840566 Centerline is valid? [True, True] Translation: X:115.35, Y:-23.13, Z:-14.01 [[ 9.41453779e-01 -3.27632374e-01 7.95098106e-02 1.15352734e+02] [ 3.26395520e-01 9.44804915e-01 2.84541174e-02 -2.31348561e+01] [-8.44437499e-02 -8.36590369e-04 9.96427897e-01 -1.40091963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46629675700001 meters 0.0708952563771338 Centerline is valid? [True, True] Translation: X:115.38, Y:-23.12, Z:-14.02 [[ 9.41414290e-01 -3.27727686e-01 7.95845325e-02 1.15377421e+02] [ 3.26486742e-01 9.44771844e-01 2.85056209e-02 -2.31247828e+01] [-8.45313067e-02 -8.52304156e-04 9.96420459e-01 -1.40151196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49629675700001 meters 0.07045456744782208 Centerline is valid? [True, True] Translation: X:115.40, Y:-23.12, Z:-14.01 [[ 9.41506362e-01 -3.27464826e-01 7.95773764e-02 1.15404330e+02] [ 3.26222672e-01 9.44862959e-01 2.85089030e-02 -2.31166510e+01] [-8.45253783e-02 -8.81369219e-04 9.96420937e-01 -1.40138051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52629675700001 meters 0.07073202767610103 Centerline is valid? [True, True] Translation: X:115.43, Y:-23.11, Z:-14.02 [[ 9.42079555e-01 -3.25381213e-01 8.13214523e-02 1.15431050e+02] [ 3.24073712e-01 9.45582262e-01 2.91618582e-02 -2.31056231e+01] [-8.63848436e-02 -1.11864549e-03 9.96261214e-01 -1.40178651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55629675700001 meters 0.0708294110659681 Centerline is valid? [True, True] Translation: X:115.46, Y:-23.10, Z:-14.02 [[ 9.42422536e-01 -3.24274708e-01 8.17659991e-02 1.15457007e+02] [ 3.22946510e-01 9.45962129e-01 2.93462281e-02 -2.30950957e+01] [-8.68637781e-02 -1.25050261e-03 9.96219414e-01 -1.40218721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.586296757 meters 0.07132164663218325 Centerline is valid? [True, True] Translation: X:115.48, Y:-23.08, Z:-14.03 [[ 9.43550089e-01 -3.21009756e-01 8.16453655e-02 1.15483510e+02] [ 3.19672928e-01 9.47074615e-01 2.93068761e-02 -2.30838524e+01] [-8.67320462e-02 -1.55269253e-03 9.96230466e-01 -1.40264834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.616296757 meters 0.07164006914046184 Centerline is valid? [True, True] Translation: X:115.51, Y:-23.07, Z:-14.03 [[ 9.43996954e-01 -3.19841418e-01 8.10630552e-02 1.15509878e+02] [ 3.18517180e-01 9.47469616e-01 2.91227307e-02 -2.30732384e+01] [-8.61194373e-02 -1.67179330e-03 9.96283417e-01 -1.40311564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.646296757 meters 0.0719926836159795 Centerline is valid? [True, True] Translation: X:115.54, Y:-23.06, Z:-14.04 [[ 9.44662640e-01 -3.18082367e-01 8.02253361e-02 1.15536118e+02] [ 3.16777892e-01 9.48061323e-01 2.88356565e-02 -2.30633089e+01] [-8.52306522e-02 -1.82635455e-03 9.96359574e-01 -1.40352660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.676296757 meters 0.072737880625467 Centerline is valid? [True, True] Translation: X:115.56, Y:-23.05, Z:-14.04 [[ 9.45716386e-01 -3.15481532e-01 7.80507528e-02 1.15562856e+02] [ 3.14237454e-01 9.48929583e-01 2.80618666e-02 -2.30531834e+01] [-8.29176690e-02 -2.01209720e-03 9.96554370e-01 -1.40401289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.706296757 meters 0.07311729043345606 Centerline is valid? [True, True] Translation: X:115.59, Y:-23.04, Z:-14.04 [[ 9.46112108e-01 -3.14575335e-01 7.69040761e-02 1.15589874e+02] [ 3.13364536e-01 9.49230271e-01 2.76506632e-02 -2.30433702e+01] [-8.16978937e-02 -2.06161709e-03 9.96655007e-01 -1.40423262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.736296757 meters 0.07452026733495128 Centerline is valid? [True, True] Translation: X:115.62, Y:-23.03, Z:-14.04 [[ 9.45986989e-01 -3.14520543e-01 7.86475943e-02 1.15616609e+02] [ 3.13252091e-01 9.49248267e-01 2.82993772e-02 -2.30324395e+01] [-8.35568281e-02 -2.13431922e-03 9.96500728e-01 -1.40427827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.766296757 meters 0.07603926463102328 Centerline is valid? [True, True] Translation: X:115.64, Y:-23.02, Z:-14.04 [[ 9.46162339e-01 -3.13319357e-01 8.12884307e-02 1.15644054e+02] [ 3.11957761e-01 9.49644943e-01 2.92717872e-02 -2.30232683e+01] [-8.63665647e-02 -2.33730582e-03 9.96260686e-01 -1.40442087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.79629675700001 meters 0.08153372563822617 Centerline is valid? [True, True] Translation: X:115.67, Y:-23.01, Z:-14.05 [[ 9.47155277e-01 -3.08503865e-01 8.78763123e-02 1.15667806e+02] [ 3.06888726e-01 9.51218262e-01 3.16721849e-02 -2.30117604e+01] [-9.33605446e-02 -3.03022753e-03 9.95627755e-01 -1.40490566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.82629675700001 meters 0.08407609055825659 Centerline is valid? [True, True] Translation: X:115.70, Y:-23.00, Z:-14.05 [[ 9.47883127e-01 -3.05479885e-01 9.05517417e-02 1.15695452e+02] [ 3.03749854e-01 9.52192314e-01 3.26469377e-02 -2.30041163e+01] [-9.61956552e-02 -3.44040313e-03 9.95356499e-01 -1.40525271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.85629675700001 meters 0.08770345941087958 Centerline is valid? [True, True] Translation: X:115.72, Y:-22.99, Z:-14.06 [[ 9.48691058e-01 -3.01498374e-01 9.53100611e-02 1.15723079e+02] [ 2.99558161e-01 9.53457977e-01 3.43917702e-02 -2.29937990e+01] [-1.01243201e-01 -4.07625827e-03 9.94853355e-01 -1.40569679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88629675700001 meters 0.08770345941087958 Centerline is valid? [True, True] Translation: X:115.75, Y:-22.98, Z:-14.06 [[ 9.48609855e-01 -3.01753867e-01 9.53097457e-02 1.15748885e+02] [ 2.99814850e-01 9.53377261e-01 3.43926453e-02 -2.29843811e+01] [-1.01244258e-01 -4.04992516e-03 9.94853355e-01 -1.40600576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91629675700001 meters 0.0969828873127237 Centerline is valid? [True, True] Translation: X:115.78, Y:-22.98, Z:-14.07 [[ 9.50342897e-01 -2.92664698e-01 1.05809979e-01 1.15777048e+02] [ 2.90212938e-01 9.56198660e-01 3.82174553e-02 -2.29761102e+01] [-1.12360260e-01 -5.61226224e-03 9.93651687e-01 -1.40655763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94629675700001 meters 0.10615365099735723 Centerline is valid? [True, False] Translation: X:115.79, Y:-22.98, Z:-14.05 [[ 9.55767578e-01 -2.84278104e-01 7.54605690e-02 1.15793859e+02] [ 2.83105356e-01 9.58735403e-01 2.60342794e-02 -2.29770364e+01] [-7.97476946e-02 -3.51942888e-03 9.96808868e-01 -1.40516106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.976296757 meters 0.10936672511851747 Centerline is valid? [False, False] Translation: X:115.80, Y:-22.98, Z:-14.04 [[ 9.59263459e-01 -2.76939847e-01 5.58384869e-02 1.15796788e+02] [ 2.76271760e-01 9.60881653e-01 1.95029211e-02 -2.29817173e+01] [-5.90553136e-02 -3.28184256e-03 9.98249317e-01 -1.40419070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.006296757 meters 0.11321476279521171 Centerline is valid? [False, False] Translation: X:115.79, Y:-22.99, Z:-14.03 [[ 9.61949619e-01 -2.70284762e-01 3.99884704e-02 1.15789641e+02] [ 2.69891510e-01 9.62773454e-01 1.50282800e-02 -2.29893147e+01] [-4.25617528e-02 -3.66389954e-03 9.99087120e-01 -1.40341726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.036296757 meters 0.12563322859586498 Centerline is valid? [False, False] Translation: X:115.78, Y:-23.00, Z:-14.03 [[ 9.63803461e-01 -2.65045322e-01 2.88767370e-02 1.15776761e+02] [ 2.64853265e-01 9.64233137e-01 1.03539590e-02 -2.29976700e+01] [-3.05881751e-02 -2.33108338e-03 9.99529354e-01 -1.40264425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.066296757 meters 0.12483177490632226 Centerline is valid? [False, False] Translation: X:115.77, Y:-23.01, Z:-14.02 [[ 9.65676439e-01 -2.59200175e-01 1.68607584e-02 1.15765602e+02] [ 2.59100246e-01 9.65818116e-01 7.90126647e-03 -2.30055105e+01] [-1.83324356e-02 -3.26144021e-03 9.99826627e-01 -1.40176736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.096296757 meters 0.13733091179729517 Centerline is valid? [False, False] Translation: X:115.76, Y:-23.01, Z:-14.01 [[ 9.66575834e-01 -2.56363016e-01 3.02680422e-03 1.15759484e+02] [ 2.56342949e-01 9.66568547e-01 5.79111779e-03 -2.30121530e+01] [-4.41024218e-03 -4.82165459e-03 9.99978650e-01 -1.40098236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.126296757 meters 0.14139601793383733 Centerline is valid? [False, False] Translation: X:115.75, Y:-23.02, Z:-14.00 [[ 9.68430259e-01 -2.49147145e-01 -8.27849165e-03 1.15745846e+02] [ 2.49179298e-01 9.68452427e-01 3.09406086e-03 -2.30208136e+01] [ 7.24644890e-03 -5.05921090e-03 9.99960946e-01 -1.40036664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.156296757 meters 0.14556406506029668 Centerline is valid? [False, False] Translation: X:115.73, Y:-23.03, Z:-14.00 [[ 9.70282307e-01 -2.41219130e-01 -1.91200416e-02 1.15731336e+02] [ 2.41275299e-01 9.70456493e-01 6.52828830e-04 -2.30291645e+01] [ 1.83976937e-02 -5.24662200e-03 9.99816982e-01 -1.39973364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18629675700001 meters 0.1543639420205643 Centerline is valid? [False, False] Translation: X:115.71, Y:-23.04, Z:-13.99 [[ 9.72499618e-01 -2.30982549e-01 -2.98589234e-02 1.15713665e+02] [ 2.31062922e-01 9.72938498e-01 -7.77329077e-04 -2.30374715e+01] [ 2.92304456e-02 -6.14333787e-03 9.99553821e-01 -1.39917313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21629675700001 meters 0.1546457889343295 Centerline is valid? [False, False] Translation: X:115.69, Y:-23.05, Z:-13.99 [[ 9.74800886e-01 -2.19785566e-01 -3.81777118e-02 1.15689310e+02] [ 2.19817296e-01 9.75535076e-01 -3.41649171e-03 -2.30470993e+01] [ 3.79945925e-02 -5.06172222e-03 9.99265125e-01 -1.39852131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24629675700001 meters 0.17088281873696481 Centerline is valid? [False, False] Translation: X:115.67, Y:-23.06, Z:-13.98 [[ 9.76584589e-01 -2.10234284e-01 -4.56517937e-02 1.15668504e+02] [ 2.10188348e-01 9.77643359e-01 -5.85847792e-03 -2.30561765e+01] [ 4.58628259e-02 -3.87417584e-03 9.98940234e-01 -1.39790335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27629675700001 meters 0.17541406862003833 Centerline is valid? [False, False] Translation: X:115.65, Y:-23.07, Z:-13.97 [[ 9.78303881e-01 -2.01064484e-01 -4.99458734e-02 1.15647359e+02] [ 2.00877891e-01 9.79576944e-01 -8.77973919e-03 -2.30652298e+01] [ 5.06911198e-02 -1.44376881e-03 9.98713335e-01 -1.39749049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.30629675700001 meters 0.1860777512435587 Centerline is valid? [False, False] Translation: X:115.62, Y:-23.08, Z:-13.97 [[ 9.79882521e-01 -1.90827417e-01 -5.84392152e-02 1.15623054e+02] [ 1.90486865e-01 9.81623602e-01 -1.13955503e-02 -2.30754914e+01] [ 5.95398963e-02 3.43976846e-05 9.98225926e-01 -1.39684782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33629675700001 meters 0.16801448072749914 Centerline is valid? [False, False] Translation: X:115.60, Y:-23.09, Z:-13.96 [[ 9.81328236e-01 -1.79952937e-01 -6.79104774e-02 1.15604187e+02] [ 1.79557254e-01 9.83675104e-01 -1.19366168e-02 -2.30852629e+01] [ 6.89498752e-02 -4.80079755e-04 9.97620010e-01 -1.39637565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.366296757 meters 0.19966674294402192 Centerline is valid? [False, False] Translation: X:115.59, Y:-23.09, Z:-13.96 [[ 9.82285609e-01 -1.70160706e-01 -7.84876803e-02 1.15588500e+02] [ 1.69736278e-01 9.85415274e-01 -1.20968776e-02 -2.30926203e+01] [ 7.94013722e-02 -1.43961793e-03 9.96841687e-01 -1.39598887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.396296757 meters 0.18425192002921925 Centerline is valid? [False, False] Translation: X:115.57, Y:-23.10, Z:-13.96 [[ 9.83749059e-01 -1.61330551e-01 -7.88050890e-02 1.15573397e+02] [ 1.60954397e-01 9.86898927e-01 -1.11440988e-02 -2.30996279e+01] [ 7.95705413e-02 -1.72102885e-03 9.96827752e-01 -1.39592952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.426296757 meters 0.1916107185224529 Centerline is valid? [False, False] Translation: X:115.57, Y:-23.10, Z:-13.96 [[ 9.83778274e-01 -1.61194951e-01 -7.87178200e-02 1.15573028e+02] [ 1.60824164e-01 9.86920997e-01 -1.10694562e-02 -2.30994673e+01] [ 7.94726099e-02 -1.76983707e-03 9.96835479e-01 -1.39591907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.456296757 meters 0.1943962411247335 Centerline is valid? [False, False] Translation: X:115.57, Y:-23.10, Z:-13.96 [[ 9.83840514e-01 -1.60811950e-01 -7.87233062e-02 1.15572419e+02] [ 1.60471514e-01 9.86982762e-01 -1.06733975e-02 -2.30998976e+01] [ 7.94149560e-02 -2.13192727e-03 9.96839365e-01 -1.39585454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.486296757 meters 0.20191750266224193 Centerline is valid? [False, False] Translation: X:115.57, Y:-23.11, Z:-13.96 [[ 9.84717175e-01 -1.55171376e-01 -7.90817911e-02 1.15570027e+02] [ 1.55319110e-01 9.87854916e-01 -4.31718329e-03 -2.31053883e+01] [ 7.87912394e-02 -8.03170891e-03 9.96858782e-01 -1.39555792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.516296757 meters 0.2091423448496835 Centerline is valid? [False, False] Translation: X:115.57, Y:-23.11, Z:-13.95 [[ 9.85068940e-01 -1.52742534e-01 -7.94285993e-02 1.15566671e+02] [ 1.53159513e-01 9.88201112e-01 -8.51865638e-04 -2.31098619e+01] [ 7.86215463e-02 -1.13260992e-02 9.96840194e-01 -1.39505279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.54629675700001 meters 0.2129689162388328 Centerline is valid? [False, False] Translation: X:115.56, Y:-23.12, Z:-13.95 [[ 9.85732176e-01 -1.48908230e-01 -7.84755795e-02 1.15561513e+02] [ 1.49679942e-01 9.88726362e-01 4.01196869e-03 -2.31150703e+01] [ 7.69934590e-02 -1.57009468e-02 9.96907963e-01 -1.39464564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.57629675700001 meters 0.21414170552918133 Centerline is valid? [False, False] Translation: X:115.56, Y:-23.12, Z:-13.94 [[ 9.86435785e-01 -1.44585607e-01 -7.77138632e-02 1.15557112e+02] [ 1.45799157e-01 9.89262189e-01 1.01453195e-02 -2.31204489e+01] [ 7.54125193e-02 -2.13383219e-02 9.96924083e-01 -1.39418382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.60629675700001 meters 0.21857309187183116 Centerline is valid? [False, False] Translation: X:115.56, Y:-23.13, Z:-13.94 [[ 9.87849717e-01 -1.41541015e-01 -6.41800345e-02 1.15555632e+02] [ 1.42992997e-01 9.89548883e-01 1.86013938e-02 -2.31260677e+01] [ 6.08764213e-02 -2.75526771e-02 9.97764958e-01 -1.39438359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.63629675700001 meters 0.2184443797844369 Centerline is valid? [False, False] Translation: X:115.56, Y:-23.13, Z:-13.94 [[ 9.88447105e-01 -1.36610868e-01 -6.56490057e-02 1.15556765e+02] [ 1.38439730e-01 9.90076474e-01 2.41457546e-02 -2.31300151e+01] [ 6.16989636e-02 -3.29552318e-02 9.97550596e-01 -1.39422841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.66629675700001 meters 0.2198571670738735 Centerline is valid? [False, False] Translation: X:115.56, Y:-23.13, Z:-13.95 [[ 9.89262586e-01 -1.35191153e-01 -5.55237596e-02 1.15561819e+02] [ 1.37126134e-01 9.90015621e-01 3.26418864e-02 -2.31338168e+01] [ 5.05564951e-02 -3.99051554e-02 9.97923654e-01 -1.39452563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69629675700001 meters 0.22141230151861008 Centerline is valid? [False, False] Translation: X:115.56, Y:-23.14, Z:-13.94 [[ 9.89792193e-01 -1.30622394e-01 -5.70017936e-02 1.15563626e+02] [ 1.32878675e-01 9.90412908e-01 3.77561861e-02 -2.31370605e+01] [ 5.15235087e-02 -4.49451011e-02 9.97659895e-01 -1.39445338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.726296757 meters 0.2194616283955779 Centerline is valid? [False, False] Translation: X:115.57, Y:-23.14, Z:-13.94 [[ 9.90304528e-01 -1.26045830e-01 -5.83899886e-02 1.15565367e+02] [ 1.28631252e-01 9.90766195e-01 4.28526230e-02 -2.31403690e+01] [ 5.24494324e-02 -4.99479240e-02 9.97373682e-01 -1.39438796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.756296757 meters 0.2193370802752129 Centerline is valid? [False, False] Translation: X:115.57, Y:-23.14, Z:-13.95 [[ 9.91234118e-01 -1.24821350e-01 -4.32961202e-02 1.15565323e+02] [ 1.26803152e-01 9.90836524e-01 4.65182114e-02 -2.31417309e+01] [ 3.70929113e-02 -5.16005227e-02 9.97978708e-01 -1.39496018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.786296757 meters 0.21969162418202343 Centerline is valid? [False, False] Translation: X:115.58, Y:-23.14, Z:-13.95 [[ 9.92489982e-01 -1.16244023e-01 -3.80915042e-02 1.15579953e+02] [ 1.17931383e-01 9.91977474e-01 4.55288855e-02 -2.31387457e+01] [ 3.24934533e-02 -4.96791465e-02 9.98236524e-01 -1.39540409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.816296757 meters 0.22382848535971878 Centerline is valid? [False, False] Translation: X:115.59, Y:-23.14, Z:-13.95 [[ 9.92955567e-01 -1.09454513e-01 -4.53756669e-02 1.15592089e+02] [ 1.11412107e-01 9.92838323e-01 4.31208410e-02 -2.31363690e+01] [ 4.03309304e-02 -4.78724778e-02 9.98038898e-01 -1.39509426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.846296757 meters 0.21945540072200656 Centerline is valid? [False, False] Translation: X:115.59, Y:-23.14, Z:-13.96 [[ 9.93749278e-01 -1.07564252e-01 -2.98714630e-02 1.15591026e+02] [ 1.08872838e-01 9.92976012e-01 4.63178761e-02 -2.31357592e+01] [ 2.46794985e-02 -4.92805468e-02 9.98480020e-01 -1.39562425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.876296757 meters 0.2187175670704457 Centerline is valid? [False, False] Translation: X:115.61, Y:-23.13, Z:-13.96 [[ 9.94509977e-01 -1.01209352e-01 -2.65814178e-02 1.15610868e+02] [ 1.02369977e-01 9.93649627e-01 4.66991108e-02 -2.31312933e+01] [ 2.16862291e-02 -4.91638708e-02 9.98555267e-01 -1.39565800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.906296757 meters 0.2171919300996049 Centerline is valid? [False, False] Translation: X:115.63, Y:-23.13, Z:-13.96 [[ 9.95183818e-01 -9.52270486e-02 -2.32589397e-02 1.15630797e+02] [ 9.62322356e-02 9.94258115e-01 4.67991134e-02 -2.31277332e+01] [ 1.86688481e-02 -4.88119802e-02 9.98633499e-01 -1.39568639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.93629675700001 meters 0.21707272352544738 Centerline is valid? [False, False] Translation: X:115.64, Y:-23.13, Z:-13.95 [[ 9.95370369e-01 -9.10187818e-02 -3.08773356e-02 1.15643448e+02] [ 9.23699505e-02 9.94680516e-01 4.55901655e-02 -2.31261205e+01] [ 2.65635228e-02 -4.82312378e-02 9.98482913e-01 -1.39543214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.96629675700001 meters 0.21719673467741415 Centerline is valid? [False, False] Translation: X:115.66, Y:-23.12, Z:-13.95 [[ 9.95895525e-01 -8.63919146e-02 -2.69914770e-02 1.15661682e+02] [ 8.75437860e-02 9.95148692e-01 4.48906129e-02 -2.31235147e+01] [ 2.29823470e-02 -4.70692966e-02 9.98627204e-01 -1.39529256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.99629675700001 meters 0.215445428369261 Centerline is valid? [False, False] Translation: X:115.68, Y:-23.12, Z:-13.95 [[ 9.96357653e-01 -8.20109691e-02 -2.33587081e-02 1.15681117e+02] [ 8.29780815e-02 9.95580400e-01 4.39807316e-02 -2.31210779e+01] [ 1.96485695e-02 -4.57587993e-02 9.98759263e-01 -1.39515247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.02629675700001 meters 0.21561978573392276 Centerline is valid? [False, False] Translation: X:115.70, Y:-23.12, Z:-13.95 [[ 9.96748471e-01 -7.80727581e-02 -1.99281235e-02 1.15700951e+02] [ 7.88588035e-02 9.95988192e-01 4.22943294e-02 -2.31182551e+01] [ 1.65461407e-02 -4.37283161e-02 9.98906432e-01 -1.39513933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.05629675700001 meters 0.21599917059813195 Centerline is valid? [False, False] Translation: X:115.73, Y:-23.12, Z:-13.95 [[ 9.97223486e-01 -7.22153245e-02 -1.81731935e-02 1.15725076e+02] [ 7.29364967e-02 9.96419107e-01 4.27695020e-02 -2.31165365e+01] [ 1.50195038e-02 -4.39762410e-02 9.98919669e-01 -1.39525813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08629675700001 meters 0.21007990922992179 Centerline is valid? [False, False] Translation: X:115.75, Y:-23.11, Z:-13.95 [[ 9.97517599e-01 -6.88636105e-02 -1.47119679e-02 1.15745490e+02] [ 6.94075522e-02 9.96770984e-01 4.03757049e-02 -2.31138335e+01] [ 1.18840459e-02 -4.12965979e-02 9.99076254e-01 -1.39531769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.116296757 meters 0.209909576501984 Centerline is valid? [False, False] Translation: X:115.77, Y:-23.11, Z:-13.95 [[ 9.97829835e-01 -6.47703214e-02 -1.18501739e-02 1.15767802e+02] [ 6.51917526e-02 9.97089331e-01 3.95335386e-02 -2.31135102e+01] [ 9.25508193e-03 -4.02202779e-02 9.99147973e-01 -1.39532192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.146296757 meters 0.2153439405367348 Centerline is valid? [False, False] Translation: X:115.79, Y:-23.11, Z:-13.95 [[ 9.98054887e-01 -6.17752110e-02 -8.38250532e-03 1.15788394e+02] [ 6.20455822e-02 9.97381547e-01 3.71536803e-02 -2.31117849e+01] [ 6.06537968e-03 -3.76015096e-02 9.99274406e-01 -1.39531448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.176296757 meters 0.20973925886517042 Centerline is valid? [False, False] Translation: X:115.81, Y:-23.11, Z:-13.95 [[ 9.98271623e-01 -5.86088178e-02 -4.33278542e-03 1.15807907e+02] [ 5.87247681e-02 9.97661669e-01 3.49656235e-02 -2.31103625e+01] [ 2.27336007e-03 -3.51596316e-02 9.99379123e-01 -1.39529670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.206296757 meters 0.21057519497881091 Centerline is valid? [False, False] Translation: X:115.83, Y:-23.11, Z:-13.95 [[ 9.98498131e-01 -5.47706164e-02 -1.28910396e-03 1.15830006e+02] [ 5.47824975e-02 9.97904028e-01 3.44445688e-02 -2.31113631e+01] [-6.00148233e-04 -3.44634579e-02 9.99405778e-01 -1.39524658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.236296757 meters 0.2105376782369541 Centerline is valid? [False, False] Translation: X:115.85, Y:-23.11, Z:-13.95 [[ 9.98662148e-01 -5.16619843e-02 2.22559789e-03 1.15850639e+02] [ 5.15629571e-02 9.98143876e-01 3.24046810e-02 -2.31103763e+01] [-3.89555702e-03 -3.22465700e-02 9.99472352e-01 -1.39522649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.266296757 meters 0.2106224605190234 Centerline is valid? [False, False] Translation: X:115.86, Y:-23.11, Z:-13.95 [[ 9.99117622e-01 -4.19833340e-02 -1.17376860e-03 1.15864843e+02] [ 4.19996242e-02 9.98659340e-01 3.02581417e-02 -2.31147061e+01] [-9.81426927e-05 -3.02807404e-02 9.99541428e-01 -1.39507226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.29629675700001 meters 0.21060814851624646 Centerline is valid? [False, False] Translation: X:115.88, Y:-23.11, Z:-13.95 [[ 9.99259791e-01 -3.81715992e-02 4.77475626e-03 1.15880987e+02] [ 3.80243195e-02 9.98888520e-01 2.78545425e-02 -2.31147337e+01] [-5.83270165e-03 -2.76523675e-02 9.99600583e-01 -1.39513878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.32629675700001 meters 0.21113443963723522 Centerline is valid? [False, False] Translation: X:115.89, Y:-23.12, Z:-13.95 [[ 9.99457705e-01 -3.11423198e-02 1.06982174e-02 1.15891821e+02] [ 3.08778144e-02 9.99233583e-01 2.40584248e-02 -2.31169174e+01] [-1.14392533e-02 -2.37150405e-02 9.99653310e-01 -1.39535791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.35629675700001 meters 0.21171597094133937 Centerline is valid? [False, False] Translation: X:115.90, Y:-23.12, Z:-13.95 [[ 9.99789071e-01 -1.97298456e-02 5.70500533e-03 1.15896692e+02] [ 1.96245442e-02 9.99646106e-01 1.79594147e-02 -2.31171192e+01] [-6.05732284e-03 -1.78436684e-02 9.99822440e-01 -1.39532411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.38629675700001 meters 0.2111469499999739 Centerline is valid? [False, False] Translation: X:115.90, Y:-23.12, Z:-13.95 [[ 9.99788067e-01 -1.98694311e-02 5.38757084e-03 1.15897540e+02] [ 1.97701592e-02 9.99644437e-01 1.78924785e-02 -2.31173203e+01] [-5.74116859e-03 -1.77821734e-02 9.99825401e-01 -1.39534076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.41629675700001 meters 0.21221308454850055 Centerline is valid? [False, False] Translation: X:115.90, Y:-23.12, Z:-13.95 [[ 9.99787242e-01 -1.99754957e-02 5.14299127e-03 1.15898199e+02] [ 1.98821035e-02 9.99647209e-01 1.76113648e-02 -2.31164581e+01] [-5.49297261e-03 -1.75053644e-02 9.99831681e-01 -1.39537750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44629675700001 meters 0.20754204969248533 Centerline is valid? [False, False] Translation: X:115.90, Y:-23.11, Z:-13.96 [[ 9.99777326e-01 -2.05598405e-02 4.75294411e-03 1.15899888e+02] [ 2.04781730e-02 9.99651882e-01 1.66360582e-02 -2.31144411e+01] [-5.09332423e-03 -1.65350222e-02 9.99850314e-01 -1.39553263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.476296757 meters 0.20745781909205852 Centerline is valid? [False, False] Translation: X:115.90, Y:-23.11, Z:-13.96 [[ 9.99846111e-01 -1.71506045e-02 3.68922509e-03 1.15903485e+02] [ 1.70731615e-02 9.99652429e-01 2.00880393e-02 -2.31143442e+01] [-4.03246484e-03 -2.00219612e-02 9.99791408e-01 -1.39577115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.506296757 meters 0.2023372505404432 Centerline is valid? [False, False] Translation: X:115.91, Y:-23.11, Z:-13.96 [[ 9.99838484e-01 -1.76636760e-02 3.31684172e-03 1.15905130e+02] [ 1.75964245e-02 9.99658599e-01 1.93145407e-02 -2.31130891e+01] [-3.65687514e-03 -1.92530566e-02 9.99807955e-01 -1.39591119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.536296757 meters 0.2121051715601152 Centerline is valid? [False, False] Translation: X:115.92, Y:-23.11, Z:-13.96 [[ 9.99892179e-01 -1.32355581e-02 -6.35998781e-03 1.15923556e+02] [ 1.33440949e-02 9.99760645e-01 1.73374524e-02 -2.31120030e+01] [ 6.12899466e-03 -1.74204513e-02 9.99829467e-01 -1.39560335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.566296757 meters 0.20736207926453873 Centerline is valid? [False, False] Translation: X:115.93, Y:-23.11, Z:-13.96 [[ 9.99837922e-01 -1.41726385e-02 -1.11025226e-02 1.15933553e+02] [ 1.43581994e-02 9.99755504e-01 1.68158954e-02 -2.31103071e+01] [ 1.08614825e-02 -1.69725821e-02 9.99796959e-01 -1.39558079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.596296757 meters 0.2074102133560768 Centerline is valid? [False, False] Translation: X:115.95, Y:-23.11, Z:-13.96 [[ 9.99956996e-01 -7.76190240e-03 -5.07536231e-03 1.15945857e+02] [ 7.81941827e-03 9.99904302e-01 1.14124669e-02 -2.31077380e+01] [ 4.98629415e-03 -1.14516625e-02 9.99921995e-01 -1.39608216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.626296757 meters 0.1996146059263451 Centerline is valid? [False, False] Translation: X:115.96, Y:-23.11, Z:-13.96 [[ 9.99999027e-01 -3.38120021e-04 1.35376109e-03 1.15956696e+02] [ 3.28737529e-04 9.99975968e-01 6.92491947e-03 -2.31061560e+01] [-1.35607002e-03 -6.92446769e-03 9.99975106e-01 -1.39648408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.656296757 meters 0.199419829906522 Centerline is valid? [False, False] Translation: X:115.96, Y:-23.11, Z:-13.97 [[ 9.99999108e-01 -4.87916609e-04 1.24328750e-03 1.15957219e+02] [ 4.79612482e-04 9.99977635e-01 6.67073566e-03 -2.31057423e+01] [-1.24651446e-03 -6.67013341e-03 9.99976977e-01 -1.39652787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.68629675700001 meters 0.20135045924506453 Centerline is valid? [False, False] Translation: X:115.96, Y:-23.10, Z:-13.97 [[ 9.99999058e-01 -6.91007916e-04 1.18626422e-03 1.15957734e+02] [ 6.83618858e-04 9.99980434e-01 6.21799256e-03 -2.31047349e+01] [-1.19053769e-03 -6.21717575e-03 9.99979964e-01 -1.39660100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.71629675700001 meters 0.1990574040987065 Centerline is valid? [False, False] Translation: X:115.96, Y:-23.10, Z:-13.97 [[ 9.99999160e-01 -8.58633162e-04 9.70828720e-04 1.15958508e+02] [ 8.52775047e-04 9.99981525e-01 6.01853626e-03 -2.31045355e+01] [-9.75978498e-04 -6.01770331e-03 9.99981417e-01 -1.39665274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.74629675700001 meters 0.19437826364082134 Centerline is valid? [False, False] Translation: X:115.96, Y:-23.11, Z:-13.97 [[ 9.99999340e-01 -1.00884128e-03 5.50291018e-04 1.15959734e+02] [ 1.00543196e-03 9.99980516e-01 6.16096674e-03 -2.31056376e+01] [-5.56495734e-04 -6.16040939e-03 9.99980870e-01 -1.39670223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.77629675700001 meters 0.19976800920531465 Centerline is valid? [False, False] Translation: X:115.96, Y:-23.11, Z:-13.97 [[ 9.99999346e-01 -1.13295108e-03 1.57699203e-04 1.15960797e+02] [ 1.13193870e-03 9.99979651e-01 6.27822637e-03 -2.31065026e+01] [-1.64808917e-04 -6.27804376e-03 9.99980279e-01 -1.39673273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.80629675700001 meters 0.19976800920531465 Centerline is valid? [False, False] Translation: X:115.96, Y:-23.11, Z:-13.97 [[ 9.99999346e-01 -1.13295108e-03 1.57699203e-04 1.15960797e+02] [ 1.13193870e-03 9.99979651e-01 6.27822637e-03 -2.31065026e+01] [-1.64808917e-04 -6.27804376e-03 9.99980279e-01 -1.39673273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83629675700001 meters 0.1978845307331258 Centerline is valid? [False, False] Translation: X:115.96, Y:-23.11, Z:-13.97 [[ 9.99999033e-01 -1.27895336e-03 -5.45266396e-04 1.15962582e+02] [ 1.28267945e-03 9.99975449e-01 6.88883604e-03 -2.31093492e+01] [ 5.36442509e-04 -6.88952879e-03 9.99976123e-01 -1.39676506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.866296757 meters 0.1958166842997394 Centerline is valid? [False, False] Translation: X:115.96, Y:-23.11, Z:-13.97 [[ 9.99998679e-01 -1.35785667e-03 -8.92885799e-04 1.15963504e+02] [ 1.36412598e-03 9.99974157e-01 7.05867967e-03 -2.31103154e+01] [ 8.83278049e-04 -7.05988835e-03 9.99974689e-01 -1.39679031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.896296757 meters 0.19418283312408624 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.11, Z:-13.97 [[ 9.99997666e-01 -1.55949579e-03 -1.49508126e-03 1.15965032e+02] [ 1.57029190e-03 9.99972505e-01 7.24731589e-03 -2.31116336e+01] [ 1.48373799e-03 -7.24964669e-03 9.99972620e-01 -1.39682767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.926296757 meters 0.1934604211135329 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.11, Z:-13.97 [[ 9.99996813e-01 -1.69097580e-03 -1.87458728e-03 1.15966048e+02] [ 1.70466915e-03 9.99971702e-01 7.32735856e-03 -2.31123574e+01] [ 1.86214385e-03 -7.33053076e-03 9.99971397e-01 -1.39685508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.956296757 meters 0.1918623906583251 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.12, Z:-13.97 [[ 9.99995712e-01 -1.63432203e-03 -2.43007357e-03 1.15967020e+02] [ 1.65397024e-03 9.99965782e-01 8.10553110e-03 -2.31153707e+01] [ 2.41674337e-03 -8.10951561e-03 9.99964197e-01 -1.39679228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.986296757 meters 0.19218045653808535 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.12, Z:-13.97 [[ 9.99995112e-01 -1.60919810e-03 -2.68086047e-03 1.15967538e+02] [ 1.63152034e-03 9.99963847e-01 8.34524408e-03 -2.31162842e+01] [ 2.66733439e-03 -8.34957717e-03 9.99961584e-01 -1.39678061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.016296757 meters 0.18942075046498302 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.11, Z:-13.97 [[ 9.99981149e-01 -5.77481124e-03 -2.08652629e-03 1.15966195e+02] [ 5.78227118e-03 9.99976849e-01 3.58712770e-03 -2.31137894e+01] [ 2.06576300e-03 -3.59912494e-03 9.99991389e-01 -1.39677920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.04629675700001 meters 0.18641399775560236 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.11, Z:-13.97 [[ 9.99980524e-01 -5.87088605e-03 -2.11744071e-03 1.15966382e+02] [ 5.87807592e-03 9.99976925e-01 3.40546083e-03 -2.31133131e+01] [ 2.09739878e-03 -3.41784099e-03 9.99991960e-01 -1.39680161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.07629675700001 meters 0.18612078178351538 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.11, Z:-13.97 [[ 9.99979285e-01 -6.07008314e-03 -2.14078279e-03 1.15966709e+02] [ 6.07633486e-03 9.99977258e-01 2.92598705e-03 -2.31119202e+01] [ 2.12297312e-03 -2.93893455e-03 9.99993428e-01 -1.39685738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.10629675700001 meters 0.18537673273977653 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.11, Z:-13.97 [[ 9.99978117e-01 -6.24136981e-03 -2.19337736e-03 1.15967116e+02] [ 6.24696222e-03 9.99977231e-01 2.55214604e-03 -2.31110031e+01] [ 2.17739853e-03 -2.56579213e-03 9.99994338e-01 -1.39691367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.13629675700001 meters 0.1832743124222837 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.11, Z:-13.97 [[ 9.99977281e-01 -6.43627778e-03 -2.00306382e-03 1.15966975e+02] [ 6.43985749e-03 9.99977669e-01 1.78582907e-03 -2.31085323e+01] [ 1.99152500e-03 -1.79868794e-03 9.99996399e-01 -1.39698258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.16629675700001 meters 0.18055216507344737 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.11, Z:-13.97 [[ 9.99986060e-01 -4.41349424e-03 -2.89832674e-03 1.15970220e+02] [ 4.42362695e-03 9.99984094e-01 3.49900255e-03 -2.31099470e+01] [ 2.88283781e-03 -3.51177489e-03 9.99989678e-01 -1.39720664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19629675700001 meters 0.17899058694011746 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.11, Z:-13.97 [[ 9.99985821e-01 -4.61025432e-03 -2.66519319e-03 1.15969962e+02] [ 4.61745258e-03 9.99985692e-01 2.70102807e-03 -2.31074683e+01] [ 2.65270263e-03 -2.71329618e-03 9.99992801e-01 -1.39726192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.226296757 meters 0.17638664727167994 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.11, Z:-13.97 [[ 9.99984229e-01 -4.87949962e-03 -2.78056165e-03 1.15970575e+02] [ 4.88553293e-03 9.99985717e-01 2.16717174e-03 -2.31061910e+01] [ 2.76994722e-03 -2.18072209e-03 9.99993786e-01 -1.39731957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.256296757 meters 0.1777956359905699 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.11, Z:-13.97 [[ 9.99984396e-01 -4.87501327e-03 -2.72787082e-03 1.15970457e+02] [ 4.88069369e-03 9.99985927e-01 2.07959613e-03 -2.31059368e+01] [ 2.71769437e-03 -2.09287759e-03 9.99994117e-01 -1.39731199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.286296757 meters 0.1772931504507972 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.10, Z:-13.97 [[ 9.99984088e-01 -5.01428264e-03 -2.58464033e-03 1.15970321e+02] [ 5.01818946e-03 9.99986273e-01 1.50728948e-03 -2.31041932e+01] [ 2.57704687e-03 -1.52023572e-03 9.99995524e-01 -1.39734676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.316296757 meters 0.17696309696201745 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.10, Z:-13.97 [[ 9.99982883e-01 -5.25686044e-03 -2.56879870e-03 1.15970525e+02] [ 5.25901966e-03 9.99985823e-01 8.34522316e-04 -2.31021580e+01] [ 2.56437531e-03 -8.48017395e-04 9.99996352e-01 -1.39739662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.346296757 meters 0.17557596927331745 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.10, Z:-13.98 [[ 9.99995246e-01 -1.46515307e-03 -2.71332584e-03 1.15971555e+02] [ 1.47625373e-03 9.99990531e-01 4.09368843e-03 -2.30995295e+01] [ 2.70730227e-03 -4.09767453e-03 9.99987940e-01 -1.39753210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.376296757 meters 0.171012961422899 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.10, Z:-13.98 [[ 9.99995054e-01 -1.75020606e-03 -2.61325171e-03 1.15971748e+02] [ 1.75888835e-03 9.99992929e-01 3.32381467e-03 -2.30973222e+01] [ 2.60741588e-03 -3.32839465e-03 9.99991062e-01 -1.39761079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.406296757 meters 0.171621691495349 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.10, Z:-13.98 [[ 9.99993838e-01 -2.09625511e-03 -2.81586968e-03 1.15972756e+02] [ 2.10392432e-03 9.99994078e-01 2.72337049e-03 -2.30960337e+01] [ 2.81014413e-03 -2.72927808e-03 9.99992327e-01 -1.39770837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.43629675700001 meters 0.17431835055119443 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.10, Z:-13.98 [[ 9.99993452e-01 -2.22217250e-03 -2.85613581e-03 1.15973240e+02] [ 2.22932798e-03 9.99994379e-01 2.50456367e-03 -2.30957443e+01] [ 2.85055418e-03 -2.51091454e-03 9.99992785e-01 -1.39777663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.46629675700001 meters 0.16941745541856137 Centerline is valid? [False, False] Translation: X:115.97, Y:-23.09, Z:-13.98 [[ 9.99991491e-01 -2.64190759e-03 -3.16844519e-03 1.15974723e+02] [ 2.64788428e-03 9.99994720e-01 1.88360683e-03 -2.30948170e+01] [ 3.16345214e-03 -1.89198048e-03 9.99993206e-01 -1.39791484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.49629675700001 meters 0.1678637114092687 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.09, Z:-13.98 [[ 9.99990418e-01 -2.94846133e-03 -3.23580420e-03 1.15975373e+02] [ 2.95248951e-03 9.99994872e-01 1.24080941e-03 -2.30931489e+01] [ 3.23212913e-03 -1.25035120e-03 9.99993995e-01 -1.39801373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.52629675700001 meters 0.16609510730191404 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.09, Z:-13.98 [[ 9.99990207e-01 -3.07087017e-03 -3.18664281e-03 1.15975432e+02] [ 3.07367664e-03 9.99994892e-01 8.76174352e-04 -2.30919975e+01] [ 3.18393592e-03 -8.85960482e-04 9.99994539e-01 -1.39805321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.55629675700001 meters 0.1675412642791755 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.09, Z:-13.98 [[ 9.99989628e-01 -3.25896908e-03 -3.18152609e-03 1.15975584e+02] [ 3.26027453e-03 9.99994603e-01 4.05222357e-04 -2.30905482e+01] [ 3.18018832e-03 -4.15590803e-04 9.99994857e-01 -1.39808854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58629675700001 meters 0.1649345927782865 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.09, Z:-13.98 [[ 9.99989605e-01 -3.27772813e-03 -3.16947659e-03 1.15975374e+02] [ 3.27844164e-03 9.99994602e-01 2.19948782e-04 -2.30896361e+01] [ 3.16873855e-03 -2.30337439e-04 9.99994953e-01 -1.39805506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.616296757 meters 0.16397224341868774 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.09, Z:-13.98 [[ 9.99989241e-01 -3.18664881e-03 -3.37106912e-03 1.15975699e+02] [ 3.18831578e-03 9.99994798e-01 4.89236655e-04 -2.30905270e+01] [ 3.36949256e-03 -4.99979424e-04 9.99994198e-01 -1.39802764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.646296757 meters 0.16135420110117246 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.09, Z:-13.98 [[ 9.99988726e-01 -3.07281774e-03 -3.62007654e-03 1.15976141e+02] [ 3.07612783e-03 9.99994855e-01 9.09157759e-04 -2.30920251e+01] [ 3.61726424e-03 -9.20283327e-04 9.99993034e-01 -1.39800222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.676296757 meters 0.1603200783300342 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.09, Z:-13.98 [[ 9.99988183e-01 -3.17962966e-03 -3.67760988e-03 1.15976408e+02] [ 3.18214817e-03 9.99994706e-01 6.79173243e-04 -2.30913853e+01] [ 3.67543089e-03 -6.90867916e-04 9.99993007e-01 -1.39803064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.706296757 meters 0.159472117687745 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.09, Z:-13.98 [[ 9.99986879e-01 -3.43015100e-03 -3.80483413e-03 1.15977059e+02] [ 3.43104139e-03 9.99994088e-01 2.27511918e-04 -2.30902812e+01] [ 3.80403124e-03 -2.40563476e-04 9.99992736e-01 -1.39809804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.736296757 meters 0.1582350934432763 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.09, Z:-13.98 [[ 9.99985680e-01 -3.68564961e-03 -3.88005760e-03 1.15977475e+02] [ 3.68471155e-03 9.99993180e-01 -2.48884140e-04 -2.30888853e+01] [ 3.88094843e-03 2.34583683e-04 9.99992442e-01 -1.39815154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.766296757 meters 0.15714649959239022 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.09, Z:-13.98 [[ 9.99985733e-01 -3.56869369e-03 -3.97468793e-03 1.15977414e+02] [ 3.56850208e-03 9.99993631e-01 -5.52980410e-05 -2.30892746e+01] [ 3.97485996e-03 4.11135700e-05 9.99992099e-01 -1.39810598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.79629675700001 meters 0.15665127078091812 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.09, Z:-13.98 [[ 9.99986067e-01 -3.35317458e-03 -4.07712346e-03 1.15977243e+02] [ 3.35483516e-03 9.99994292e-01 4.00521634e-04 -2.30906257e+01] [ 4.07575717e-03 -4.14194130e-04 9.99991608e-01 -1.39802320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.82629675700001 meters 0.15741048001803787 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.09, Z:-13.98 [[ 9.99985959e-01 -3.24891516e-03 -4.18651250e-03 1.15977345e+02] [ 3.25145815e-03 9.99994534e-01 6.00760884e-04 -2.30911575e+01] [ 4.18453779e-03 -6.14364718e-04 9.99991056e-01 -1.39800095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.85629675700001 meters 0.15763558095369704 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.09, Z:-13.98 [[ 9.99983984e-01 -3.70987119e-03 -4.27412301e-03 1.15978150e+02] [ 3.70856479e-03 9.99993074e-01 -3.13537601e-04 -2.30886433e+01] [ 4.27525659e-03 2.97681717e-04 9.99990817e-01 -1.39812363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.88629675700001 meters 0.1575566797708713 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.09, Z:-13.98 [[ 9.99982837e-01 -3.96701992e-03 -4.31149976e-03 1.15978501e+02] [ 3.96301243e-03 9.99991708e-01 -9.37636448e-04 -2.30867792e+01] [ 4.31518363e-03 9.20533828e-04 9.99990266e-01 -1.39818440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.91629675700001 meters 0.15875284013821522 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.09, Z:-13.98 [[ 9.99981961e-01 -4.16066094e-03 -4.33193178e-03 1.15978702e+02] [ 4.15454575e-03 9.99990362e-01 -1.41969585e-03 -2.30852638e+01] [ 4.33779690e-03 1.40167304e-03 9.99989609e-01 -1.39822188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94629675700001 meters 0.15840900014340667 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.08, Z:-13.98 [[ 9.99981505e-01 -4.26169095e-03 -4.33919428e-03 1.15978653e+02] [ 4.25415255e-03 9.99989428e-01 -1.74502962e-03 -2.30841452e+01] [ 4.34658518e-03 1.72653775e-03 9.99989063e-01 -1.39821449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.976296757 meters 0.15920058962142972 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.08, Z:-13.98 [[ 9.99980799e-01 -4.26891242e-03 -4.49197041e-03 1.15978889e+02] [ 4.26094718e-03 9.99989336e-01 -1.78129495e-03 -2.30840091e+01] [ 4.49952670e-03 1.76212070e-03 9.99988325e-01 -1.39819255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.006296757 meters 0.16011021102057257 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.08, Z:-13.98 [[ 9.99979481e-01 -4.39788952e-03 -4.65784045e-03 1.15979505e+02] [ 4.38848295e-03 9.99988315e-01 -2.02781087e-03 -2.30835962e+01] [ 4.66670410e-03 2.00732841e-03 9.99987096e-01 -1.39823311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.036296757 meters 0.160925546545706 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.08, Z:-13.98 [[ 9.99978181e-01 -4.57733215e-03 -4.76289750e-03 1.15980003e+02] [ 4.56604672e-03 9.99986749e-01 -2.37762749e-03 -2.30827192e+01] [ 4.77371757e-03 2.35582800e-03 9.99985831e-01 -1.39828186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.066296757 meters 0.16225413781666562 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.08, Z:-13.98 [[ 9.99976602e-01 -4.80622028e-03 -4.86791960e-03 1.15980499e+02] [ 4.79229586e-03 9.99984404e-01 -2.86808079e-03 -2.30813589e+01] [ 4.88162831e-03 2.84468517e-03 9.99984039e-01 -1.39833408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.096296757 meters 0.16360287693829975 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.08, Z:-13.98 [[ 9.99987369e-01 -4.23021102e-04 -5.00830277e-03 1.15980769e+02] [ 4.31001757e-04 9.99998639e-01 1.59251301e-03 -2.30818715e+01] [ 5.00762229e-03 -1.59465148e-03 9.99986190e-01 -1.39832416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.126296757 meters 0.1651771496499823 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.08, Z:-13.98 [[ 9.99987763e-01 -5.62571381e-04 -4.91497532e-03 1.15980552e+02] [ 5.68008010e-04 9.99999228e-01 1.10480969e-03 -2.30802193e+01] [ 4.91434999e-03 -1.10758791e-03 9.99987311e-01 -1.39832821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.156296757 meters 0.1670195309372367 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.08, Z:-13.98 [[ 9.99988362e-01 -7.95196797e-04 -4.75857668e-03 1.15980371e+02] [ 7.96798955e-04 9.99999627e-01 3.34802094e-04 -2.30777884e+01] [ 4.75830867e-03 -3.38589827e-04 9.99988622e-01 -1.39836265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.18629675700001 meters 0.16802059054047047 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.08, Z:-13.98 [[ 9.99988074e-01 -9.46129283e-04 -4.79134614e-03 1.15980587e+02] [ 9.45831706e-04 9.99999551e-01 -6.43726261e-05 -2.30766160e+01] [ 4.79140489e-03 5.98400513e-05 9.99988519e-01 -1.39839526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.21629675700001 meters 0.16870228955831204 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.07, Z:-13.98 [[ 9.99987218e-01 -1.30388034e-03 -4.88510497e-03 1.15981337e+02] [ 1.30005673e-03 9.99998846e-01 -7.85801182e-04 -2.30748007e+01] [ 4.88612392e-03 7.79440224e-04 9.99987759e-01 -1.39849503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.24629675700001 meters 0.1713705883533108 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.07, Z:-13.99 [[ 9.99986921e-01 -1.66586081e-03 -4.83550375e-03 1.15981768e+02] [ 1.65743147e-03 9.99997101e-01 -1.74670369e-03 -2.30720194e+01] [ 4.83839949e-03 1.73866633e-03 9.99986783e-01 -1.39860891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.27629675700001 meters 0.17301923948512724 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.07, Z:-13.99 [[ 9.99986038e-01 -1.76154521e-03 -4.98204186e-03 1.15982314e+02] [ 1.75221751e-03 9.99996705e-01 -1.87601045e-03 -2.30718327e+01] [ 4.98533013e-03 1.86725463e-03 9.99985830e-01 -1.39864528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.30629675700001 meters 0.1766447518414874 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.07, Z:-13.99 [[ 9.99983007e-01 -1.93088422e-03 -5.50070672e-03 1.15983782e+02] [ 1.92150879e-03 9.99996693e-01 -1.70918020e-03 -2.30731513e+01] [ 5.50398876e-03 1.69858150e-03 9.99983410e-01 -1.39867846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33629675700001 meters 0.17858748397229948 Centerline is valid? [False, False] Translation: X:115.98, Y:-23.08, Z:-13.99 [[ 9.99982869e-01 -1.60271038e-03 -5.62965735e-03 1.15983596e+02] [ 1.59736903e-03 9.99998270e-01 -9.53155420e-04 -2.30752118e+01] [ 5.63117524e-03 9.44146451e-04 9.99983699e-01 -1.39858650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.366296757 meters 0.18366593169012663 Centerline is valid? [False, False] Translation: X:115.99, Y:-23.08, Z:-13.99 [[ 9.99964306e-01 -8.17156625e-03 2.14760461e-03 1.15994389e+02] [ 8.16986005e-03 9.99966304e-01 8.02044455e-04 -2.30766944e+01] [-2.15408621e-03 -7.84470198e-04 9.99997372e-01 -1.39899450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.396296757 meters 0.1866312692124138 Centerline is valid? [False, False] Translation: X:116.00, Y:-23.08, Z:-13.99 [[ 9.99965129e-01 -8.15013145e-03 1.82091441e-03 1.15995009e+02] [ 8.14800490e-03 9.99966117e-01 1.17223205e-03 -2.30779111e+01] [-1.83040655e-03 -1.15735435e-03 9.99997655e-01 -1.39896504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.426296757 meters 0.19430067396217934 Centerline is valid? [False, False] Translation: X:116.01, Y:-23.08, Z:-13.99 [[ 9.99993971e-01 -3.09349614e-04 3.45871845e-03 1.16006777e+02] [ 3.23197865e-04 9.99991932e-01 -4.00402590e-03 -2.30804959e+01] [-3.45745190e-03 4.00511961e-03 9.99986002e-01 -1.39912564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.456296757 meters 0.19845615216333012 Centerline is valid? [False, False] Translation: X:116.01, Y:-23.08, Z:-13.99 [[ 9.99994506e-01 -2.28132264e-04 3.30695646e-03 1.16007115e+02] [ 2.40239453e-04 9.99993269e-01 -3.66119260e-03 -2.30815998e+01] [-3.30609896e-03 3.66196695e-03 9.99987830e-01 -1.39912193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.486296757 meters 0.20947606875831845 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.08, Z:-13.99 [[ 9.99973936e-01 3.49428643e-04 7.21152868e-03 1.16029993e+02] [-2.96170498e-04 9.99972687e-01 -7.38488655e-03 -2.30817268e+01] [-7.21391220e-03 7.38255822e-03 9.99946727e-01 -1.39929141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.516296757 meters 0.22020326841779303 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.08, Z:-13.99 [[ 9.99976108e-01 4.01823711e-04 6.90089367e-03 1.16030669e+02] [-3.54393778e-04 9.99976319e-01 -6.87286129e-03 -2.30835128e+01] [-6.90349192e-03 6.87025145e-03 9.99952570e-01 -1.39927656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.54629675700001 meters 0.23234976862832157 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.99 [[ 9.99977009e-01 6.92211945e-04 6.74550595e-03 1.16030630e+02] [-6.50962943e-04 9.99981089e-01 -6.11531269e-03 -2.30856753e+01] [-6.74961148e-03 6.11078102e-03 9.99958550e-01 -1.39920824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.57629675700001 meters 0.24999875080428965 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.08, Z:-13.99 [[ 9.99969987e-01 -3.56566109e-03 6.87826762e-03 1.16030378e+02] [ 3.63856680e-03 9.99937027e-01 -1.06161972e-02 -2.30848023e+01] [-6.83998071e-03 1.06409056e-02 9.99919990e-01 -1.39922192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.60629675700001 meters 0.2613832638019764 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.08, Z:-13.99 [[ 9.99970716e-01 -3.77468087e-03 6.65718717e-03 1.16031311e+02] [ 3.84564243e-03 9.99935583e-01 -1.06790004e-02 -2.30849960e+01] [-6.61644851e-03 1.07042889e-02 9.99920817e-01 -1.39928238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.63629675700001 meters 0.2638782796060731 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.99 [[ 9.99971234e-01 -3.67059947e-03 6.63754913e-03 1.16031327e+02] [ 3.74005251e-03 9.99938071e-01 -1.04816950e-02 -2.30856353e+01] [-6.59866397e-03 1.05062183e-02 9.99923036e-01 -1.39928057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.66629675700001 meters 0.2670143075787993 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.99 [[ 9.99971935e-01 -3.67237133e-03 6.53011718e-03 1.16031594e+02] [ 3.73999569e-03 9.99939196e-01 -1.03738860e-02 -2.30859922e+01] [-6.49162335e-03 1.03980174e-02 9.99924867e-01 -1.39927892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69629675700001 meters 0.2670143075787993 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.99 [[ 9.99983003e-01 -2.15134528e-05 5.83033621e-03 1.16033698e+02] [ 5.60039907e-05 9.99982501e-01 -5.91560440e-03 -2.30876974e+01] [-5.83010692e-03 5.91583037e-03 9.99965506e-01 -1.39934616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.726296757 meters 0.27275517904222796 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.99 [[ 9.99982237e-01 1.01932245e-04 5.95947702e-03 1.16033427e+02] [-6.74330388e-05 9.99983242e-01 -5.78887981e-03 -2.30881316e+01] [-5.95996723e-03 5.78837511e-03 9.99965486e-01 -1.39935642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.756296757 meters 0.27573177368294577 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.99 [[ 9.99981983e-01 -7.72086025e-05 6.00225300e-03 1.16034037e+02] [ 1.14197541e-04 9.99981006e-01 -6.16241056e-03 -2.30876468e+01] [-6.00166320e-03 6.16298497e-03 9.99962998e-01 -1.39947989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.786296757 meters 0.27827067081353557 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-14.00 [[ 9.99982246e-01 -2.82640028e-04 5.95204954e-03 1.16034676e+02] [ 3.21417536e-04 9.99978725e-01 -6.51503550e-03 -2.30869952e+01] [-5.95008150e-03 6.51683292e-03 9.99961063e-01 -1.39956439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.816296757 meters 0.2789243892115535 Centerline is valid? [False, False] Translation: X:116.04, Y:-23.09, Z:-14.00 [[ 9.99982167e-01 -4.49915381e-04 5.95516693e-03 1.16035188e+02] [ 4.90851472e-04 9.99976251e-01 -6.87437029e-03 -2.30863268e+01] [-5.95193261e-03 6.87717080e-03 9.99958639e-01 -1.39965138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.846296757 meters 0.2841717604203978 Centerline is valid? [False, False] Translation: X:116.04, Y:-23.08, Z:-14.00 [[ 9.99979333e-01 -4.54968565e-04 6.41296534e-03 1.16035113e+02] [ 5.05471470e-04 9.99968858e-01 -7.87570563e-03 -2.30838965e+01] [-6.40918243e-03 7.87878443e-03 9.99948422e-01 -1.39984388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.876296757 meters 0.28544157662646 Centerline is valid? [False, False] Translation: X:116.04, Y:-23.08, Z:-14.00 [[ 9.99979187e-01 -6.22491546e-04 6.42175958e-03 1.16035449e+02] [ 6.75632607e-04 9.99965523e-01 -8.27630812e-03 -2.30829444e+01] [-6.41638624e-03 8.28047461e-03 9.99945130e-01 -1.39990548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.906296757 meters 0.2838933178227876 Centerline is valid? [False, False] Translation: X:116.04, Y:-23.08, Z:-14.00 [[ 9.99978134e-01 -5.61157213e-04 6.58919179e-03 1.16035389e+02] [ 6.17086129e-04 9.99963777e-01 -8.48901528e-03 -2.30826911e+01] [-6.58418944e-03 8.49289575e-03 9.99942258e-01 -1.39997519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.93629675700001 meters 0.28383346148311583 Centerline is valid? [False, False] Translation: X:116.04, Y:-23.08, Z:-14.00 [[ 9.99978138e-01 -3.91084309e-04 6.60086020e-03 1.16035242e+02] [ 4.45290580e-04 9.99966177e-01 -8.21253016e-03 -2.30835113e+01] [-6.59742515e-03 8.21528991e-03 9.99944490e-01 -1.39995859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.96629675700001 meters 0.2975032474369749 Centerline is valid? [False, False] Translation: X:116.04, Y:-23.08, Z:-14.00 [[ 9.99978183e-01 -2.47795766e-04 6.60090425e-03 1.16035219e+02] [ 3.00150458e-04 9.99968499e-01 -7.93163288e-03 -2.30844036e+01] [-6.59873089e-03 7.93344110e-03 9.99946757e-01 -1.39995656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.99629675700001 meters 0.2976777588098972 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-14.00 [[ 9.99976212e-01 1.02583952e-04 6.89674136e-03 1.16034425e+02] [-5.06634656e-05 9.99971663e-01 -7.52801674e-03 -2.30854514e+01] [-6.89731818e-03 7.52748825e-03 9.99947881e-01 -1.39995142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.02629675700001 meters 0.2970204150958635 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-14.00 [[ 9.99975033e-01 1.94064623e-04 7.06375796e-03 1.16034005e+02] [-1.41129319e-04 9.99971912e-01 -7.49365659e-03 -2.30853876e+01] [-7.06501380e-03 7.49247259e-03 9.99946973e-01 -1.39995311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.05629675700001 meters 0.2911903092980725 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-14.00 [[ 9.99972462e-01 4.66888553e-04 7.40657291e-03 1.16032899e+02] [-4.12098174e-04 9.99972554e-01 -7.39733668e-03 -2.30851144e+01] [-7.40982336e-03 7.39408074e-03 9.99945210e-01 -1.39991119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08629675700001 meters 0.28582499998566896 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-14.00 [[ 9.99972699e-01 6.06845248e-04 7.36428704e-03 1.16032683e+02] [-5.54700857e-04 9.99974778e-01 -7.08068936e-03 -2.30856783e+01] [-7.36839817e-03 7.07641107e-03 9.99947814e-01 -1.39985519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.116296757 meters 0.28212384114984423 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-14.00 [[ 9.99964179e-01 -3.05941379e-03 7.89186063e-03 1.16030780e+02] [ 3.14648166e-03 9.99934064e-01 -1.10438962e-02 -2.30858391e+01] [-7.85755242e-03 1.10683322e-02 9.99907871e-01 -1.39974617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.146296757 meters 0.2806801176019499 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-14.00 [[ 9.99965328e-01 -2.89426453e-03 7.80808591e-03 1.16030602e+02] [ 2.97708934e-03 9.99939208e-01 -1.06168836e-02 -2.30866694e+01] [-7.77688317e-03 1.06397609e-02 9.99913154e-01 -1.39967480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.176296757 meters 0.27793597824186095 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-14.00 [[ 9.99966391e-01 -2.74625347e-03 7.72497033e-03 1.16030478e+02] [ 2.82513888e-03 9.99943789e-01 -1.02194354e-02 -2.30874310e+01] [-7.69647094e-03 1.02409160e-02 9.99917941e-01 -1.39961419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.206296757 meters 0.2741862952359374 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-14.00 [[ 9.99965933e-01 -2.62529545e-03 7.82563448e-03 1.16029963e+02] [ 2.70517571e-03 9.99944172e-01 -1.02144654e-02 -2.30869295e+01] [-7.79838160e-03 1.02352872e-02 9.99917209e-01 -1.39956988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.236296757 meters 0.26517840554922845 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-14.00 [[ 9.99964971e-01 -2.49318180e-03 7.99000852e-03 1.16029276e+02] [ 2.57539341e-03 9.99943683e-01 -1.02955842e-02 -2.30859994e+01] [-7.96388978e-03 1.03158010e-02 9.99915077e-01 -1.39952314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.266296757 meters 0.2605796425879345 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.99 [[ 9.99965113e-01 -2.46463105e-03 7.98110238e-03 1.16029125e+02] [ 2.54661681e-03 9.99943930e-01 -1.02786692e-02 -2.30857290e+01] [-7.95532176e-03 1.02986354e-02 9.99915322e-01 -1.39949319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.29629675700001 meters 0.25713395336288153 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.99 [[ 9.99970614e-01 -3.80043560e-03 -6.65785202e-03 1.16029045e+02] [ 3.77216131e-03 9.99983836e-01 -4.25418161e-03 -2.30883709e+01] [ 6.67391215e-03 4.22894211e-03 9.99968787e-01 -1.39860414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.32629675700001 meters 0.25462695334435403 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.99 [[ 9.99975580e-01 7.13605583e-04 -6.95204059e-03 1.16029305e+02] [-7.08119139e-04 9.99999436e-01 7.91614165e-04 -2.30900985e+01] [ 6.95260157e-03 -7.86671961e-04 9.99975521e-01 -1.39852608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.35629675700001 meters 0.2507980909319457 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.99 [[ 9.99975961e-01 4.78472011e-04 -6.91729254e-03 1.16029715e+02] [-4.78113785e-04 9.99999884e-01 5.34405853e-05 -2.30883845e+01] [ 6.91731730e-03 -5.01320477e-05 9.99976074e-01 -1.39863480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.38629675700001 meters 0.24168614541195008 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.99 [[ 9.99975891e-01 4.08715107e-04 -6.93178842e-03 1.16029771e+02] [-4.09927666e-04 9.99999901e-01 -1.73507430e-04 -2.30876682e+01] [ 6.93171682e-03 1.76344779e-04 9.99975960e-01 -1.39864597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.41629675700001 meters 0.23243114540337365 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.99 [[ 9.99975688e-01 4.96909611e-04 -6.95525680e-03 1.16029577e+02] [-4.97367003e-04 9.99999874e-01 -6.40324512e-05 -2.30875651e+01] [ 6.95522411e-03 6.74902097e-05 9.99975810e-01 -1.39860319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44629675700001 meters 0.23091626069019902 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.99 [[ 9.99975259e-01 7.03679606e-04 -6.99906354e-03 1.16029352e+02] [-7.01194499e-04 9.99999690e-01 3.57510275e-04 -2.30883731e+01] [ 6.99931294e-03 -3.52593725e-04 9.99975442e-01 -1.39854291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.476296757 meters 0.22894735401705776 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.98 [[ 9.99975069e-01 9.28064013e-04 -7.00002248e-03 1.16029075e+02] [-9.22722480e-04 9.99999281e-01 7.66264647e-04 -2.30891879e+01] [ 7.00072859e-03 -7.59786465e-04 9.99975206e-01 -1.39849195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.506296757 meters 0.22256369628600967 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.99 [[ 9.99970797e-01 -3.51436443e-03 -6.78633176e-03 1.16029059e+02] [ 3.48503235e-03 9.99984556e-01 -4.32922714e-03 -2.30870954e+01] [ 6.80144144e-03 4.30545013e-03 9.99967601e-01 -1.39859194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.536296757 meters 0.21998553203505697 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.99 [[ 9.99971178e-01 -3.49797297e-03 -6.73848899e-03 1.16028973e+02] [ 3.46807007e-03 9.99984111e-01 -4.44421324e-03 -2.30866880e+01] [ 6.75392766e-03 4.42071560e-03 9.99967420e-01 -1.39860196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.566296757 meters 0.21225665411624015 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.08, Z:-13.99 [[ 9.99972203e-01 -3.57062427e-03 -6.54559276e-03 1.16028751e+02] [ 3.53783924e-03 9.99981174e-01 -5.01347362e-03 -2.30848054e+01] [ 6.56337076e-03 4.99017700e-03 9.99966010e-01 -1.39864856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.596296757 meters 0.21240450114173653 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.08, Z:-13.99 [[ 9.99972825e-01 -3.53348104e-03 -6.47018112e-03 1.16028558e+02] [ 3.50046643e-03 9.99980833e-01 -5.10681277e-03 -2.30843252e+01] [ 6.48810193e-03 5.08402534e-03 9.99966028e-01 -1.39864909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.626296757 meters 0.2067280757303183 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.08, Z:-13.99 [[ 9.99973269e-01 -3.46463716e-03 -6.43874362e-03 1.16028398e+02] [ 3.43190638e-03 9.99981169e-01 -5.08752521e-03 -2.30841998e+01] [ 6.45624881e-03 5.06529206e-03 9.99966329e-01 -1.39863700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.656296757 meters 0.19927051055887252 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.99 [[ 9.99974343e-01 -3.09697639e-03 -6.45927936e-03 1.16028150e+02] [ 3.06914718e-03 9.99985985e-01 -4.31387859e-03 -2.30861253e+01] [ 6.47254881e-03 4.29394343e-03 9.99969834e-01 -1.39858050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.68629675700001 meters 0.19491983378361447 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.99 [[ 9.99974599e-01 -2.86188397e-03 -6.52764105e-03 1.16028093e+02] [ 2.83742294e-03 9.99988930e-01 -3.75348682e-03 -2.30875091e+01] [ 6.53831083e-03 3.73486980e-03 9.99971650e-01 -1.39854171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.71629675700001 meters 0.1886573719301561 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.98 [[ 9.99975389e-01 -2.48051662e-03 -6.56266649e-03 1.16027892e+02] [ 2.46192063e-03 9.99992936e-01 -2.84016572e-03 -2.30897993e+01] [ 6.56966521e-03 2.82393905e-03 9.99974432e-01 -1.39848875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.74629675700001 meters 0.18464292488018638 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.98 [[ 9.99976414e-01 -2.25789668e-03 -6.48641327e-03 1.16027522e+02] [ 2.24193019e-03 9.99994442e-01 -2.46774528e-03 -2.30904712e+01] [ 6.49194914e-03 2.45314499e-03 9.99975918e-01 -1.39845066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.77629675700001 meters 0.17344226921387557 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.98 [[ 9.99976777e-01 -2.12883642e-03 -6.47408345e-03 1.16027329e+02] [ 2.11456197e-03 9.99995320e-01 -2.21090614e-03 -2.30907889e+01] [ 6.47875981e-03 2.19716494e-03 9.99976599e-01 -1.39842047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.80629675700001 meters 0.17032511946927872 Centerline is valid? [False, False] Translation: X:116.03, Y:-23.09, Z:-13.98 [[ 9.99977694e-01 -1.87229439e-03 -6.41137159e-03 1.16026959e+02] [ 1.86093078e-03 9.99996688e-01 -1.77792325e-03 -2.30916005e+01] [ 6.41467915e-03 1.76595247e-03 9.99977866e-01 -1.39837808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83629675700001 meters 0.20308673814999287 Centerline is valid? [False, False] Translation: X:116.19, Y:-23.08, Z:-13.99 [[ 9.99977676e-01 -4.29387959e-03 -5.11966985e-03 1.16189979e+02] [ 4.27262501e-03 9.99982239e-01 -4.15528809e-03 -2.30840833e+01] [ 5.13742123e-03 4.13332090e-03 9.99978261e-01 -1.39854097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.866296757 meters 0.12295630184839787 Centerline is valid? [False, False] Translation: X:116.10, Y:-23.09, Z:-13.98 [[ 9.99988358e-01 -1.45658658e-03 -4.60030753e-03 1.16102259e+02] [ 1.44517289e-03 9.99995872e-01 -2.48342159e-03 -2.30915321e+01] [ 4.60390586e-03 2.47674444e-03 9.99986335e-01 -1.39838856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.896296757 meters 0.11771860399263426 Centerline is valid? [False, False] Translation: X:116.10, Y:-23.09, Z:-13.98 [[ 9.99988025e-01 -1.32484260e-03 -4.71105008e-03 1.16102415e+02] [ 1.31577889e-03 9.99997279e-01 -1.92650447e-03 -2.30930095e+01] [ 4.71358957e-03 1.92028270e-03 9.99987047e-01 -1.39837270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.926296757 meters 0.11203252375089201 Centerline is valid? [False, False] Translation: X:116.10, Y:-23.09, Z:-13.98 [[ 9.99987581e-01 -1.29154899e-03 -4.81348822e-03 1.16102573e+02] [ 1.28309828e-03 9.99997631e-01 -1.75830509e-03 -2.30934174e+01] [ 4.81574776e-03 1.75210708e-03 9.99986869e-01 -1.39836414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.956296757 meters 0.10904371411601546 Centerline is valid? [False, False] Translation: X:116.10, Y:-23.09, Z:-13.98 [[ 9.99987927e-01 -1.09426264e-03 -4.79052911e-03 1.16102319e+02] [ 1.08743583e-03 9.99998390e-01 -1.42743751e-03 -2.30940319e+01] [ 4.79208339e-03 1.42221088e-03 9.99987507e-01 -1.39832924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.986296757 meters 0.10305175077166459 Centerline is valid? [False, False] Translation: X:116.10, Y:-23.10, Z:-13.98 [[ 9.99988948e-01 -6.67643704e-04 -4.65388483e-03 1.16101722e+02] [ 6.64290946e-04 9.99999519e-01 -7.21929835e-04 -2.30956836e+01] [ 4.65436459e-03 7.18830322e-04 9.99988910e-01 -1.39827288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.016296757 meters 0.10079695816136396 Centerline is valid? [False, False] Translation: X:116.10, Y:-23.10, Z:-13.98 [[ 9.99989338e-01 -3.25448404e-04 -4.60623752e-03 1.16101227e+02] [ 3.24523016e-04 9.99999927e-01 -2.01644689e-04 -2.30965267e+01] [ 4.60630281e-03 2.00147709e-04 9.99989371e-01 -1.39820547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.04629675700001 meters 0.09590359048972454 Centerline is valid? [False, True] Translation: X:116.10, Y:-23.10, Z:-13.98 [[ 9.99989293e-01 -2.34809738e-04 -4.62144566e-03 1.16101260e+02] [ 2.34726865e-04 9.99999972e-01 -1.84746800e-05 -2.30970207e+01] [ 4.62144987e-03 1.73897047e-05 9.99989321e-01 -1.39821055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.07629675700001 meters 0.09077153194312544 Centerline is valid? [True, True] Translation: X:116.13, Y:-23.10, Z:-13.97 [[ 9.99984217e-01 2.28725689e-03 5.13167963e-03 1.16132913e+02] [-2.28765604e-03 9.99997381e-01 7.19123659e-05 -2.30965027e+01] [-5.13150170e-03 -8.36507487e-05 9.99986830e-01 -1.39709555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.10629675700001 meters 0.08904266437996686 Centerline is valid? [True, True] Translation: X:116.16, Y:-23.09, Z:-13.98 [[ 9.99892160e-01 5.40725453e-03 1.36539564e-02 1.16163281e+02] [-5.41041353e-03 9.99985345e-01 1.94433415e-04 -2.30924488e+01] [-1.36527049e-02 -2.68285998e-04 9.99906761e-01 -1.39768365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.13629675700001 meters 0.08583777751837467 Centerline is valid? [True, True] Translation: X:116.19, Y:-23.09, Z:-13.98 [[ 9.99598003e-01 9.03258103e-03 2.68746149e-02 1.16194501e+02] [-9.04604413e-03 9.99959012e-01 3.79423171e-04 -2.30900160e+01] [-2.68700862e-02 -6.22379596e-04 9.99638740e-01 -1.39771001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.16629675700001 meters 0.08374981329763594 Centerline is valid? [True, True] Translation: X:116.22, Y:-23.09, Z:-13.98 [[ 9.99207582e-01 1.06756501e-02 3.83436924e-02 1.16224534e+02] [-1.07042682e-02 9.99942561e-01 5.41132727e-04 -2.30882160e+01] [-3.83357131e-02 -9.51145091e-04 9.99264464e-01 -1.39801068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19629675700001 meters 0.08153916748321634 Centerline is valid? [True, True] Translation: X:116.26, Y:-23.09, Z:-13.98 [[ 9.98604630e-01 1.43361393e-02 5.08258601e-02 1.16255087e+02] [-1.43911770e-02 9.99896185e-01 7.17056429e-04 -2.30855414e+01] [-5.08103037e-02 -1.44749982e-03 9.98707273e-01 -1.39806255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.226296757 meters 0.08050865249397157 Centerline is valid? [True, True] Translation: X:116.29, Y:-23.08, Z:-13.98 [[ 9.98317366e-01 1.62643046e-02 5.56588635e-02 1.16286109e+02] [-1.63333145e-02 9.99866294e-01 7.85167289e-04 -2.30837112e+01] [-5.56386514e-02 -1.69293986e-03 9.98449535e-01 -1.39830992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.256296757 meters 0.07894325711927418 Centerline is valid? [True, True] Translation: X:116.32, Y:-23.08, Z:-13.98 [[ 9.97545932e-01 2.02175691e-02 6.70325565e-02 1.16316965e+02] [-2.03264820e-02 9.99792951e-01 9.43069953e-04 -2.30789740e+01] [-6.69996109e-02 -2.30329165e-03 9.97750343e-01 -1.39849737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.286296757 meters 0.07973994300757249 Centerline is valid? [True, True] Translation: X:116.35, Y:-23.07, Z:-13.99 [[ 9.96960020e-01 2.25521176e-02 7.45796295e-02 1.16346163e+02] [-2.26933821e-02 9.99741924e-01 1.04716598e-03 -2.30702698e+01] [-7.45367664e-02 -2.73644665e-03 9.97214512e-01 -1.39918050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.316296757 meters 0.07579892515946438 Centerline is valid? [True, True] Translation: X:116.38, Y:-23.07, Z:-13.98 [[ 9.95364097e-01 2.63174949e-02 9.25078546e-02 1.16378090e+02] [-2.65514753e-02 9.99646603e-01 1.29925106e-03 -2.30716082e+01] [-9.24409696e-02 -3.74944787e-03 9.95711107e-01 -1.39840802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.346296757 meters 0.07551368385039879 Centerline is valid? [True, True] Translation: X:116.41, Y:-23.07, Z:-13.99 [[ 9.95107797e-01 2.90350278e-02 9.44321979e-02 1.16410304e+02] [-2.92912757e-02 9.99570036e-01 1.32828661e-03 -2.30706348e+01] [-9.43530286e-02 -4.08782790e-03 9.95530409e-01 -1.39866310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.376296757 meters 0.07546056536384235 Centerline is valid? [True, True] Translation: X:116.44, Y:-23.07, Z:-13.99 [[ 9.94937321e-01 3.16237904e-02 9.53921576e-02 1.16442260e+02] [-3.18945862e-02 9.99490373e-01 1.31499316e-03 -2.30686284e+01] [-9.53019581e-02 -4.35082916e-03 9.95438902e-01 -1.39896036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.406296757 meters 0.07519750867010518 Centerline is valid? [True, True] Translation: X:116.48, Y:-23.07, Z:-13.99 [[ 9.94860356e-01 3.21448980e-02 9.60186281e-02 1.16475261e+02] [-3.24213487e-02 9.99473418e-01 1.31998840e-03 -2.30689884e+01] [-9.59256355e-02 -4.42625756e-03 9.95378662e-01 -1.39928691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.43629675700001 meters 0.07553539554052612 Centerline is valid? [True, True] Translation: X:116.51, Y:-23.07, Z:-14.00 [[ 9.94857304e-01 3.29091007e-02 9.57911018e-02 1.16505992e+02] [-3.31849252e-02 9.99448400e-01 1.28735585e-03 -2.30665480e+01] [-9.56958977e-02 -4.45955592e-03 9.95400627e-01 -1.39968725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.46629675700001 meters 0.07486872703397202 Centerline is valid? [True, True] Translation: X:116.54, Y:-23.07, Z:-14.00 [[ 9.95022160e-01 3.18576076e-02 9.44245428e-02 1.16538389e+02] [-3.21196181e-02 9.99483243e-01 1.25588920e-03 -2.30685924e+01] [-9.43357387e-02 -4.28251784e-03 9.95531229e-01 -1.40009472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.49629675700001 meters 0.07507657351832905 Centerline is valid? [True, True] Translation: X:116.57, Y:-23.07, Z:-14.01 [[ 9.95078681e-01 3.22089110e-02 9.37070202e-02 1.16569926e+02] [-3.24679682e-02 9.99472006e-01 1.24086797e-03 -2.30680814e+01] [-9.36175765e-02 -4.27723781e-03 9.95599043e-01 -1.40050195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.52629675700001 meters 0.0741366821798784 Centerline is valid? [True, True] Translation: X:116.60, Y:-23.07, Z:-14.01 [[ 9.95196878e-01 3.14731494e-02 9.26963626e-02 1.16601678e+02] [-3.17213608e-02 9.99496024e-01 1.20513348e-03 -2.30697726e+01] [-9.26117165e-02 -4.13979984e-03 9.95693694e-01 -1.40091692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.55629675700001 meters 0.07458176503518466 Centerline is valid? [True, True] Translation: X:116.63, Y:-23.07, Z:-14.01 [[ 9.95256765e-01 3.04534058e-02 9.23935203e-02 1.16632539e+02] [-3.06934280e-02 9.99528152e-01 1.17763051e-03 -2.30679023e+01] [-9.23140617e-02 -4.00791860e-03 9.95721874e-01 -1.40135588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58629675700001 meters 0.07258976013298848 Centerline is valid? [True, True] Translation: X:116.66, Y:-23.08, Z:-14.01 [[ 9.95311903e-01 2.74782612e-02 9.27316590e-02 1.16664238e+02] [-2.77048410e-02 9.99615478e-01 1.15670169e-03 -2.30766221e+01] [-9.26642174e-02 -3.72039483e-03 9.95690465e-01 -1.40148040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.616296757 meters 0.07258976013298848 Centerline is valid? [True, True] Translation: X:116.70, Y:-23.08, Z:-14.02 [[ 9.95303633e-01 2.77762497e-02 9.27316431e-02 1.16696431e+02] [-2.80042429e-02 9.99607133e-01 1.15804424e-03 -2.30763259e+01] [-9.26630458e-02 -3.74948509e-03 9.95690465e-01 -1.40184077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.646296757 meters 0.07222608853104968 Centerline is valid? [True, True] Translation: X:116.73, Y:-23.08, Z:-14.02 [[ 9.95448082e-01 2.58709452e-02 9.17268197e-02 1.16728866e+02] [-2.60830552e-02 9.99659158e-01 1.11417797e-03 -2.30774773e+01] [-9.16667306e-02 -3.50162202e-03 9.95783585e-01 -1.40227761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.676296757 meters 0.07238547389304464 Centerline is valid? [True, True] Translation: X:116.76, Y:-23.08, Z:-14.03 [[ 9.95476790e-01 2.40948086e-02 9.18988619e-02 1.16759218e+02] [-2.42996415e-02 9.99704103e-01 1.11046139e-03 -2.30768243e+01] [-9.18449130e-02 -3.33854794e-03 9.95767727e-01 -1.40274651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.706296757 meters 0.07134650594312779 Centerline is valid? [True, True] Translation: X:116.79, Y:-23.08, Z:-14.03 [[ 9.95466461e-01 1.99644701e-02 9.29943269e-02 1.16790759e+02] [-2.01538450e-02 9.99796288e-01 1.09763353e-03 -2.30807989e+01] [-9.29534692e-02 -2.96685061e-03 9.95666034e-01 -1.40298735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.736296757 meters 0.07085083218854313 Centerline is valid? [True, True] Translation: X:116.82, Y:-23.08, Z:-14.03 [[ 9.95456552e-01 1.74896518e-02 9.35968200e-02 1.16822506e+02] [-1.76701193e-02 9.99843267e-01 1.09966871e-03 -2.30827824e+01] [-9.35629174e-02 -2.74853940e-03 9.95609575e-01 -1.40331389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.766296757 meters 0.07049241139425017 Centerline is valid? [True, True] Translation: X:116.85, Y:-23.09, Z:-14.04 [[ 9.95478379e-01 1.47995727e-02 9.38284045e-02 1.16854583e+02] [-1.49688652e-02 9.99887354e-01 1.10069044e-03 -2.30864783e+01] [-9.38015454e-02 -2.50021827e-03 9.95587776e-01 -1.40360461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.79629675700001 meters 0.07015707621597464 Centerline is valid? [True, True] Translation: X:116.89, Y:-23.09, Z:-14.04 [[ 9.95418013e-01 1.32963618e-02 9.46899450e-02 1.16886648e+02] [-1.34597711e-02 9.99908822e-01 1.08722373e-03 -2.30882806e+01] [-9.46668553e-02 -2.35674707e-03 9.95506219e-01 -1.40388806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.82629675700001 meters 0.06974378879125628 Centerline is valid? [True, True] Translation: X:116.92, Y:-23.09, Z:-14.04 [[ 9.95486693e-01 1.25706730e-02 9.40649917e-02 1.16918987e+02] [-1.27265159e-02 9.99918456e-01 1.05702763e-03 -2.30921751e+01] [-9.40440337e-02 -2.24937655e-03 9.95565498e-01 -1.40421807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.85629675700001 meters 0.06955568005906002 Centerline is valid? [True, True] Translation: X:116.95, Y:-23.09, Z:-14.05 [[ 9.95523910e-01 1.30365511e-02 9.36065849e-02 1.16951838e+02] [-1.31907434e-02 9.99912469e-01 1.02867159e-03 -2.30937631e+01] [-9.35849811e-02 -2.25880761e-03 9.95608733e-01 -1.40454577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.88629675700001 meters 0.06973230170626735 Centerline is valid? [True, True] Translation: X:116.98, Y:-23.09, Z:-14.05 [[ 9.95511610e-01 1.34979664e-02 9.36719787e-02 1.16982991e+02] [-1.36516609e-02 9.99906312e-01 1.00014030e-03 -2.30922640e+01] [-9.36497029e-02 -2.27442938e-03 9.95602612e-01 -1.40504882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.91629675700001 meters 0.06959614569377985 Centerline is valid? [True, True] Translation: X:117.01, Y:-23.09, Z:-14.05 [[ 9.95418127e-01 1.55733619e-02 9.43409893e-02 1.17014611e+02] [-1.57359623e-02 9.99875702e-01 9.79806803e-04 -2.30925676e+01] [-9.43140041e-02 -2.45986371e-03 9.95539461e-01 -1.40536687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94629675700001 meters 0.06967235601810134 Centerline is valid? [True, True] Translation: X:117.05, Y:-23.09, Z:-14.06 [[ 9.95419829e-01 1.72281028e-02 9.40348651e-02 1.17045931e+02] [-1.73946476e-02 9.99848249e-01 9.51654689e-04 -2.30917943e+01] [-9.40042000e-02 -2.58299929e-03 9.95568450e-01 -1.40572278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.976296757 meters 0.07000139363131087 Centerline is valid? [True, True] Translation: X:117.08, Y:-23.09, Z:-14.06 [[ 9.95279477e-01 2.02086264e-02 9.49229896e-02 1.17076235e+02] [-2.03893034e-02 9.99791680e-01 9.33795472e-04 -2.30896718e+01] [-9.48843446e-02 -2.86480110e-03 9.95484181e-01 -1.40611421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.006296757 meters 0.07037684326535168 Centerline is valid? [True, True] Translation: X:117.11, Y:-23.09, Z:-14.07 [[ 9.95226406e-01 2.17696589e-02 9.51340281e-02 1.17107465e+02] [-2.19580645e-02 9.99758456e-01 9.33893870e-04 -2.30874106e+01] [-9.50907185e-02 -3.01839497e-03 9.95464035e-01 -1.40652270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.036296757 meters 0.07101567204770866 Centerline is valid? [True, True] Translation: X:117.14, Y:-23.08, Z:-14.07 [[ 9.95388685e-01 2.43166623e-02 9.27904413e-02 1.17136807e+02] [-2.45054799e-02 9.99699294e-01 8.95859992e-04 -2.30840102e+01] [-9.27407544e-02 -3.16560319e-03 9.95685257e-01 -1.40701882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.066296757 meters 0.07137898736946187 Centerline is valid? [True, True] Translation: X:117.17, Y:-23.08, Z:-14.08 [[ 9.95549955e-01 2.55830075e-02 9.06961754e-02 1.17167252e+02] [-2.57688223e-02 9.99667543e-01 8.78180496e-04 -2.30825044e+01] [-9.06435564e-02 -3.21140618e-03 9.95878222e-01 -1.40753838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.096296757 meters 0.0716655026070244 Centerline is valid? [True, True] Translation: X:117.20, Y:-23.08, Z:-14.08 [[ 9.95682843e-01 2.51461392e-02 8.93495805e-02 1.17198525e+02] [-2.53236553e-02 9.99678940e-01 8.53539032e-04 -2.30817348e+01] [-8.92994308e-02 -3.11251215e-03 9.95999962e-01 -1.40808252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.126296757 meters 0.07160689206338709 Centerline is valid? [True, True] Translation: X:117.23, Y:-23.08, Z:-14.08 [[ 9.95665816e-01 2.51936980e-02 8.95257575e-02 1.17230637e+02] [-2.53716948e-02 9.99677725e-01 8.50598677e-04 -2.30827443e+01] [-8.94754759e-02 -3.11833222e-03 9.95984144e-01 -1.40841967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.156296757 meters 0.07154202604377048 Centerline is valid? [True, True] Translation: X:117.26, Y:-23.08, Z:-14.09 [[ 9.95723065e-01 2.40449977e-02 8.92043537e-02 1.17262526e+02] [-2.42147393e-02 9.99706443e-01 8.20983363e-04 -2.30832704e+01] [-8.91584266e-02 -2.97753224e-03 9.96013007e-01 -1.40875953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.18629675700001 meters 0.07094799708840645 Centerline is valid? [True, True] Translation: X:117.29, Y:-23.09, Z:-14.09 [[ 9.95614656e-01 2.25668535e-02 9.07865326e-02 1.17294822e+02] [-2.27361083e-02 9.99741156e-01 8.30414149e-04 -2.30865668e+01] [-9.07442933e-02 -2.89090494e-03 9.95870030e-01 -1.40893266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.21629675700001 meters 0.07071960934951695 Centerline is valid? [True, True] Translation: X:117.33, Y:-23.09, Z:-14.09 [[ 9.95635163e-01 2.15790919e-02 9.08017875e-02 1.17325391e+02] [-2.17421300e-02 9.99763287e-01 8.06650883e-04 -2.30880996e+01] [-9.07628867e-02 -2.77735425e-03 9.95868658e-01 -1.40924319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.24629675700001 meters 0.07047206283198253 Centerline is valid? [True, True] Translation: X:117.36, Y:-23.09, Z:-14.10 [[ 9.95635753e-01 2.06854030e-02 9.10030856e-02 1.17356753e+02] [-2.08434849e-02 9.99782441e-01 7.86962351e-04 -2.30890289e+01] [-9.09670084e-02 -2.68034929e-03 9.95850300e-01 -1.40956975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.27629675700001 meters 0.0704594637263849 Centerline is valid? [True, True] Translation: X:117.39, Y:-23.09, Z:-14.10 [[ 9.95574033e-01 2.08804811e-02 9.16315969e-02 1.17388370e+02] [-2.10394534e-02 9.99778350e-01 7.69172288e-04 -2.30892152e+01] [-9.15952261e-02 -2.69364667e-03 9.95792679e-01 -1.40991126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.30629675700001 meters 0.07043518192155333 Centerline is valid? [True, True] Translation: X:117.42, Y:-23.09, Z:-14.10 [[ 9.95714544e-01 2.04133101e-02 9.01989116e-02 1.17421378e+02] [-2.05635108e-02 9.99788278e-01 7.36136075e-04 -2.30901508e+01] [-9.01647875e-02 -2.58778769e-03 9.95923498e-01 -1.41034877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33629675700001 meters 0.07053915597458021 Centerline is valid? [True, True] Translation: X:117.45, Y:-23.09, Z:-14.11 [[ 9.95732132e-01 2.07131456e-02 8.99360207e-02 1.17453998e+02] [-2.08614276e-02 9.99782125e-01 7.08960043e-04 -2.30899676e+01] [-8.99017411e-02 -2.58212808e-03 9.95947293e-01 -1.41077810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.366296757 meters 0.07046715409727429 Centerline is valid? [True, True] Translation: X:117.49, Y:-23.09, Z:-14.11 [[ 9.95845960e-01 1.95185273e-02 8.89373390e-02 1.17485084e+02] [-1.96562985e-02 9.99806569e-01 6.73435956e-04 -2.30903681e+01] [-8.89069913e-02 -2.41881736e-03 9.96036995e-01 -1.41113496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.396296757 meters 0.07033293926083867 Centerline is valid? [True, True] Translation: X:117.52, Y:-23.09, Z:-14.11 [[ 9.95818044e-01 1.89896247e-02 8.93634025e-02 1.17515616e+02] [-1.91256562e-02 9.99816866e-01 6.66116889e-04 -2.30915475e+01] [-8.93343877e-02 -2.37246493e-03 9.95998865e-01 -1.41149605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.426296757 meters 0.06995472352610967 Centerline is valid? [True, True] Translation: X:117.55, Y:-23.09, Z:-14.12 [[ 9.95839769e-01 1.81821262e-02 8.92892211e-02 1.17547256e+02] [-1.83129539e-02 9.99832095e-01 6.46152706e-04 -2.30934955e+01] [-8.92624806e-02 -2.27861395e-03 9.96005531e-01 -1.41176534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.456296757 meters 0.06921722700112935 Centerline is valid? [True, True] Translation: X:117.58, Y:-23.10, Z:-14.12 [[ 9.95876082e-01 1.58061113e-02 8.93364209e-02 1.17578851e+02] [-1.59256181e-02 9.99872984e-01 6.25036211e-04 -2.30966766e+01] [-8.93151943e-02 -2.04519634e-03 9.96001312e-01 -1.41204280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.486296757 meters 0.06920372664132107 Centerline is valid? [True, True] Translation: X:117.61, Y:-23.10, Z:-14.13 [[ 9.95929982e-01 1.55269917e-02 8.87827868e-02 1.17611424e+02] [-1.56421081e-02 9.99877474e-01 6.00963449e-04 -2.30970333e+01] [-8.87625775e-02 -1.98726747e-03 9.96050830e-01 -1.41250522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.516296757 meters 0.06824997270933297 Centerline is valid? [True, True] Translation: X:117.64, Y:-23.10, Z:-14.12 [[ 9.96204869e-01 1.38976228e-02 8.59227250e-02 1.17644067e+02] [-1.39974390e-02 9.99901875e-01 5.59314244e-04 -2.31032093e+01] [-8.59065207e-02 -1.75988967e-03 9.96301647e-01 -1.41248992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.54629675700001 meters 0.06921452603638178 Centerline is valid? [True, True] Translation: X:117.68, Y:-23.10, Z:-14.14 [[ 9.96281165e-01 1.30555615e-02 8.51668535e-02 1.17675125e+02] [-1.31486971e-02 9.99913410e-01 5.32698492e-04 -2.30987511e+01] [-8.51525242e-02 -1.65055063e-03 9.96366561e-01 -1.41355873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.57629675700001 meters 0.06853766027596772 Centerline is valid? [True, True] Translation: X:117.71, Y:-23.10, Z:-14.14 [[ 9.96495240e-01 1.18374097e-02 8.28076823e-02 1.17707150e+02] [-1.19193240e-02 9.99928840e-01 4.94908799e-04 -2.31044153e+01] [-8.27959313e-02 -1.48018585e-03 9.96565423e-01 -1.41358450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.60629675700001 meters 0.06915731542011512 Centerline is valid? [True, True] Translation: X:117.74, Y:-23.10, Z:-14.14 [[ 9.96452945e-01 1.12682186e-02 8.33939739e-02 1.17737830e+02] [-1.13475004e-02 9.99935501e-01 4.76753723e-04 -2.31017338e+01] [-8.33832229e-02 -1.42137580e-03 9.96516542e-01 -1.41443009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.63629675700001 meters 0.06938845606218438 Centerline is valid? [True, True] Translation: X:117.77, Y:-23.10, Z:-14.15 [[ 9.96395370e-01 1.11977295e-02 8.40885086e-02 1.17768480e+02] [-1.12763797e-02 9.99936314e-01 4.60422417e-04 -2.31021718e+01] [-8.40779976e-02 -1.40697672e-03 9.96458183e-01 -1.41485260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.66629675700001 meters 0.06939670150942567 Centerline is valid? [True, True] Translation: X:117.80, Y:-23.10, Z:-14.15 [[ 9.96589932e-01 1.16855861e-02 8.16820369e-02 1.17800852e+02] [-1.17597286e-02 9.99930761e-01 4.26655965e-04 -2.31030352e+01] [-8.16713956e-02 -1.38575962e-03 9.96658348e-01 -1.41509961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69629675700001 meters 0.06871379647882084 Centerline is valid? [True, True] Translation: X:117.83, Y:-23.11, Z:-14.15 [[ 9.96558557e-01 1.23718957e-02 8.19632712e-02 1.17834235e+02] [-1.24489476e-02 9.99922417e-01 4.29086557e-04 -2.31055672e+01] [-8.19516036e-02 -1.44796635e-03 9.96635258e-01 -1.41489574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.726296757 meters 0.06883679918448006 Centerline is valid? [True, True] Translation: X:117.87, Y:-23.10, Z:-14.15 [[ 9.96393859e-01 1.43378305e-02 8.36283756e-02 1.17865906e+02] [-1.44228679e-02 9.99895900e-01 4.12766987e-04 -2.31044849e+01] [-8.36137517e-02 -1.61743950e-03 9.96496926e-01 -1.41515032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.756296757 meters 0.0688847432249706 Centerline is valid? [True, True] Translation: X:117.90, Y:-23.10, Z:-14.15 [[ 9.96424941e-01 1.62682851e-02 8.29016328e-02 1.17897768e+02] [-1.63568332e-02 9.99866142e-01 3.89005039e-04 -2.31039545e+01] [-8.28842074e-02 -1.74362251e-03 9.96557659e-01 -1.41545758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.786296757 meters 0.0686901106996868 Centerline is valid? [True, True] Translation: X:117.93, Y:-23.11, Z:-14.16 [[ 9.96573953e-01 1.94636594e-02 8.03835966e-02 1.17929514e+02] [-1.95551687e-02 9.99808718e-01 3.51258778e-04 -2.31057688e+01] [-8.03613838e-02 -1.92197014e-03 9.96763941e-01 -1.41551199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.816296757 meters 0.06925903952561431 Centerline is valid? [True, True] Translation: X:117.96, Y:-23.10, Z:-14.16 [[ 9.96566537e-01 2.21576454e-02 7.97757867e-02 1.17959968e+02] [-2.22566629e-02 9.99752228e-01 3.52113754e-04 -2.31034499e+01] [-7.97482185e-02 -2.12644758e-03 9.96812771e-01 -1.41603964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.846296757 meters 0.06967200849867036 Centerline is valid? [True, True] Translation: X:117.99, Y:-23.10, Z:-14.17 [[ 9.96658997e-01 2.40290303e-02 7.80605470e-02 1.17990599e+02] [-2.41276210e-02 9.99708835e-01 3.19965954e-04 -2.31015566e+01] [-7.80301300e-02 -2.20231224e-03 9.96948569e-01 -1.41662393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.876296757 meters 0.06965972920953449 Centerline is valid? [True, True] Translation: X:118.02, Y:-23.10, Z:-14.17 [[ 9.96746973e-01 2.68177163e-02 7.60018549e-02 1.18021353e+02] [-2.69186726e-02 9.99637581e-01 3.04051231e-04 -2.31029949e+01] [-7.59661564e-02 -2.34893120e-03 9.97107630e-01 -1.41685418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.906296757 meters 0.07016985444063499 Centerline is valid? [True, True] Translation: X:118.05, Y:-23.10, Z:-14.17 [[ 9.96760031e-01 2.83663856e-02 7.52647866e-02 1.18051739e+02] [-2.84702997e-02 9.99594591e-01 3.07863372e-04 -2.31018040e+01] [-7.52255407e-02 -2.44967694e-03 9.97163536e-01 -1.41729875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.93629675700001 meters 0.06996463863630996 Centerline is valid? [True, True] Translation: X:118.08, Y:-23.10, Z:-14.18 [[ 9.96720587e-01 2.76858198e-02 7.60366160e-02 1.18082675e+02] [-2.77884423e-02 9.99613784e-01 2.91773269e-04 -2.31036949e+01] [-7.59991715e-02 -2.40375554e-03 9.97104983e-01 -1.41763416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.96629675700001 meters 0.06979848817783964 Centerline is valid? [True, True] Translation: X:118.11, Y:-23.11, Z:-14.18 [[ 9.96645227e-01 2.70503806e-02 7.72435707e-02 1.18114293e+02] [-2.71529319e-02 9.99631253e-01 2.77487864e-04 -2.31055873e+01] [-7.72075812e-02 -2.37394637e-03 9.97012213e-01 -1.41794740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.99629675700001 meters 0.06950492431296504 Centerline is valid? [True, True] Translation: X:118.15, Y:-23.11, Z:-14.18 [[ 9.96687331e-01 2.53477552e-02 7.72777817e-02 1.18145404e+02] [-2.54436482e-02 9.99676225e-01 2.56393741e-04 -2.31088032e+01] [-7.72462621e-02 -2.22177308e-03 9.97009568e-01 -1.41814198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.02629675700001 meters 0.06928047629165823 Centerline is valid? [True, True] Translation: X:118.18, Y:-23.11, Z:-14.18 [[ 9.96709911e-01 2.39607914e-02 7.74288987e-02 1.18176866e+02] [-2.40514426e-02 9.99710694e-01 2.38307554e-04 -2.31103858e+01] [-7.74007880e-02 -2.09980022e-03 9.96997848e-01 -1.41848077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.05629675700001 meters 0.06924793843771129 Centerline is valid? [True, True] Translation: X:118.21, Y:-23.11, Z:-14.19 [[ 9.96710766e-01 2.26613782e-02 7.78081668e-02 1.18209033e+02] [-2.27473953e-02 9.99741220e-01 2.19256422e-04 -2.31119505e+01] [-7.77830630e-02 -1.98846836e-03 9.96968325e-01 -1.41883296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08629675700001 meters 0.06907832816858683 Centerline is valid? [True, True] Translation: X:118.24, Y:-23.12, Z:-14.19 [[ 9.96792967e-01 1.90698380e-02 7.77182212e-02 1.18240309e+02] [-1.91432047e-02 9.99816732e-01 1.99035754e-04 -2.31160397e+01] [-7.77001824e-02 -1.68617326e-03 9.96975345e-01 -1.41930042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.116296757 meters 0.06896810183183281 Centerline is valid? [True, True] Translation: X:118.27, Y:-23.12, Z:-14.20 [[ 9.96823479e-01 1.83819027e-02 7.74923020e-02 1.18271526e+02] [-1.84511978e-02 9.99829746e-01 1.78263274e-04 -2.31177623e+01] [-7.74758318e-02 -1.60752281e-03 9.96992934e-01 -1.41962477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.146296757 meters 0.06892180188120046 Centerline is valid? [True, True] Translation: X:118.30, Y:-23.12, Z:-14.20 [[ 9.96764702e-01 1.55050378e-02 7.88652198e-02 1.18302111e+02] [-1.55658712e-02 9.99878832e-01 1.56620108e-04 -2.31206009e+01] [-7.88532355e-02 -1.38371925e-03 9.96885276e-01 -1.42008530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.176296757 meters 0.06891468156397386 Centerline is valid? [True, True] Translation: X:118.33, Y:-23.12, Z:-14.20 [[ 9.96787253e-01 1.45812899e-02 7.87563233e-02 1.18334210e+02] [-1.46392397e-02 9.99892828e-01 1.58467422e-04 -2.31227455e+01] [-7.87455721e-02 -1.31089100e-03 9.96893884e-01 -1.42043063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.206296757 meters 0.06840414590818952 Centerline is valid? [True, True] Translation: X:118.37, Y:-23.13, Z:-14.20 [[ 9.96855770e-01 1.35961172e-02 7.80622852e-02 1.18367408e+02] [-1.36486499e-02 9.99906843e-01 1.39436664e-04 -2.31264767e+01] [-7.80531173e-02 -1.20444305e-03 9.96948474e-01 -1.42046288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.236296757 meters 0.0686697294294092 Centerline is valid? [True, True] Translation: X:118.40, Y:-23.13, Z:-14.21 [[ 9.96882309e-01 1.24667523e-02 7.79117588e-02 1.18398331e+02] [-1.25137472e-02 9.99921693e-01 1.14965397e-04 -2.31282041e+01] [-7.79042245e-02 -1.08957502e-03 9.96960252e-01 -1.42117177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.266296757 meters 0.06831278476896693 Centerline is valid? [True, True] Translation: X:118.43, Y:-23.13, Z:-14.21 [[ 9.96965687e-01 1.22716601e-02 7.68688887e-02 1.18430454e+02] [-1.23154126e-02 9.99924158e-01 9.51540942e-05 -2.31315668e+01] [-7.68618911e-02 -1.04153744e-03 9.97041205e-01 -1.42101489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.29629675700001 meters 0.06860344486828807 Centerline is valid? [True, True] Translation: X:118.46, Y:-23.13, Z:-14.22 [[ 9.96876083e-01 1.33329525e-02 7.78479794e-02 1.18460624e+02] [-1.33794436e-02 9.99910488e-01 7.56375836e-05 -2.31300302e+01] [-7.78400026e-02 -1.11696394e-03 9.96965238e-01 -1.42184470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.32629675700001 meters 0.06859012203334955 Centerline is valid? [True, True] Translation: X:118.49, Y:-23.13, Z:-14.22 [[ 9.96890318e-01 1.44855851e-02 7.74587743e-02 1.18492241e+02] [-1.45334997e-02 9.99894382e-01 5.48680041e-05 -2.31300491e+01] [-7.74497984e-02 -1.18044446e-03 9.96995554e-01 -1.42204413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.35629675700001 meters 0.06912140707545043 Centerline is valid? [True, True] Translation: X:118.52, Y:-23.13, Z:-14.23 [[ 9.96834834e-01 1.77920475e-02 7.74839131e-02 1.18522646e+02] [-1.78483972e-02 9.99840704e-01 3.47267281e-05 -2.31271209e+01] [-7.74709524e-02 -1.41758047e-03 9.96993602e-01 -1.42263419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.38629675700001 meters 0.06905812312342809 Centerline is valid? [True, True] Translation: X:118.56, Y:-23.13, Z:-14.23 [[ 9.96879788e-01 2.05507065e-02 7.62125792e-02 1.18555112e+02] [-2.06115340e-02 9.99787560e-01 1.15592813e-05 -2.31270939e+01] [-7.61961511e-02 -1.58238138e-03 9.97091592e-01 -1.42270691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.41629675700001 meters 0.06967066506121242 Centerline is valid? [True, True] Translation: X:118.59, Y:-23.12, Z:-14.23 [[ 9.96814968e-01 2.60140957e-02 7.53869177e-02 1.18586183e+02] [-2.60886930e-02 9.99659632e-01 4.75334542e-06 -2.31229018e+01] [-7.53611348e-02 -1.97148436e-03 9.97154357e-01 -1.42311997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44629675700001 meters 0.07006500982667896 Centerline is valid? [True, True] Translation: X:118.62, Y:-23.12, Z:-14.23 [[ 9.96820864e-01 2.91765082e-02 7.41410561e-02 1.18617591e+02] [-2.92577355e-02 9.99571901e-01 9.48828918e-06 -2.31211764e+01] [-7.41090396e-02 -2.17865754e-03 9.97247764e-01 -1.42345448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.476296757 meters 0.07006500982667896 Centerline is valid? [True, True] Translation: X:118.65, Y:-23.12, Z:-14.24 [[ 9.96812224e-01 2.94702265e-02 7.41410542e-02 1.18649776e+02] [-2.95511079e-02 9.99563271e-01 -6.07440093e-06 -2.31212982e+01] [-7.41088536e-02 -2.18489526e-03 9.97247765e-01 -1.42381605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.506296757 meters 0.07094913735047002 Centerline is valid? [True, True] Translation: X:118.68, Y:-23.12, Z:-14.24 [[ 9.96748866e-01 3.25221892e-02 7.37157086e-02 1.18680636e+02] [-3.26087187e-02 9.99468194e-01 -2.97133559e-05 -2.31180644e+01] [-7.36774724e-02 -2.37415805e-03 9.97279296e-01 -1.42444880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.536296757 meters 0.07223162464342409 Centerline is valid? [True, True] Translation: X:118.71, Y:-23.11, Z:-14.25 [[ 9.96773412e-01 3.80322028e-02 7.06846341e-02 1.18710949e+02] [-3.81238305e-02 9.99273021e-01 -5.28202404e-05 -2.31135336e+01] [-7.06352567e-02 -2.64211920e-03 9.97498712e-01 -1.42503680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.566296757 meters 0.07296085415119194 Centerline is valid? [True, True] Translation: X:118.74, Y:-23.11, Z:-14.26 [[ 9.96743720e-01 3.97735351e-02 7.01428716e-02 1.18741552e+02] [-3.98685627e-02 9.99204932e-01 -4.52361704e-05 -2.31117515e+01] [-7.00889025e-02 -2.75140661e-03 9.97536954e-01 -1.42554915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.596296757 meters 0.07265160153873869 Centerline is valid? [True, True] Translation: X:118.77, Y:-23.11, Z:-14.26 [[ 9.96619052e-01 4.02583098e-02 7.16221560e-02 1.18773940e+02] [-4.03574518e-02 9.99185304e-01 -6.29148443e-05 -2.31130987e+01] [-7.15663386e-02 -2.82778558e-03 9.97431834e-01 -1.42576168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.626296757 meters 0.07276532776190017 Centerline is valid? [True, True] Translation: X:118.81, Y:-23.11, Z:-14.26 [[ 9.96555669e-01 4.01479822e-02 7.25598885e-02 1.18805494e+02] [-4.02480655e-02 9.99189715e-01 -8.28709701e-05 -2.31135924e+01] [-7.25044214e-02 -2.83780961e-03 9.97364054e-01 -1.42616537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.656296757 meters 0.07258708277688494 Centerline is valid? [True, True] Translation: X:118.84, Y:-23.11, Z:-14.26 [[ 9.96500896e-01 3.90487165e-02 7.38996735e-02 1.18836216e+02] [-3.91474897e-02 9.99233437e-01 -1.11971167e-04 -2.31146783e+01] [-7.38473970e-02 -2.78140734e-03 9.97265675e-01 -1.42645871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.68629675700001 meters 0.07162276998454879 Centerline is valid? [True, True] Translation: X:118.87, Y:-23.12, Z:-14.27 [[ 9.96498450e-01 3.52430600e-02 7.58206212e-02 1.18867003e+02] [-3.53358018e-02 9.99375489e-01 -1.18418364e-04 -2.31195601e+01] [-7.57774438e-02 -2.56117873e-03 9.97121467e-01 -1.42662468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.71629675700001 meters 0.07073184699669746 Centerline is valid? [True, True] Translation: X:118.90, Y:-23.13, Z:-14.27 [[ 9.96475974e-01 3.00858725e-02 7.82973404e-02 1.18896385e+02] [-3.01687508e-02 9.99544812e-01 -1.24427997e-04 -2.31250014e+01] [-7.82654439e-02 -2.23814344e-03 9.96930043e-01 -1.42689928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.74629675700001 meters 0.07024980619045702 Centerline is valid? [True, True] Translation: X:118.93, Y:-23.13, Z:-14.27 [[ 9.96441437e-01 2.80088207e-02 7.94982324e-02 1.18927653e+02] [-2.80877898e-02 9.99605452e-01 -1.24936339e-04 -2.31274828e+01] [-7.94703659e-02 -2.10843790e-03 9.96834999e-01 -1.42719666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.77629675700001 meters 0.06986795017261509 Centerline is valid? [True, True] Translation: X:118.96, Y:-23.13, Z:-14.28 [[ 9.96344044e-01 2.60534410e-02 8.13619277e-02 1.18957783e+02] [-2.61293825e-02 9.99658561e-01 -1.31396653e-04 -2.31288071e+01] [-8.13375709e-02 -1.99502066e-03 9.96684614e-01 -1.42753175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.80629675700001 meters 0.06972491665845809 Centerline is valid? [True, True] Translation: X:118.99, Y:-23.13, Z:-14.28 [[ 9.96233489e-01 2.51521066e-02 8.29831725e-02 1.18989672e+02] [-2.52284071e-02 9.99681705e-01 -1.29144062e-04 -2.31301371e+01] [-8.29600075e-02 -1.96487562e-03 9.96550940e-01 -1.42781800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83629675700001 meters 0.06943456711313668 Centerline is valid? [True, True] Translation: X:119.02, Y:-23.13, Z:-14.28 [[ 9.96122543e-01 2.31521802e-02 8.48755314e-02 1.19019619e+02] [-2.32224514e-02 9.99730310e-01 -1.59397332e-04 -2.31321440e+01] [-8.48563317e-02 -1.81223862e-03 9.96391549e-01 -1.42816899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.866296757 meters 0.06934233941995872 Centerline is valid? [True, True] Translation: X:119.05, Y:-23.13, Z:-14.28 [[ 9.96103496e-01 2.31580719e-02 8.50971749e-02 1.19051189e+02] [-2.32291086e-02 9.99730156e-01 -1.55429058e-04 -2.31335027e+01] [-8.50778113e-02 -1.82190809e-03 9.96372644e-01 -1.42841418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.896296757 meters 0.06936778044786587 Centerline is valid? [True, True] Translation: X:119.08, Y:-23.13, Z:-14.29 [[ 9.95882338e-01 2.32760189e-02 8.76161800e-02 1.19082311e+02] [-2.33498282e-02 9.99727339e-01 -1.82510468e-04 -2.31330885e+01] [-8.75965386e-02 -1.86406380e-03 9.96154291e-01 -1.42879769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.926296757 meters 0.06967664993708025 Centerline is valid? [True, True] Translation: X:119.11, Y:-23.13, Z:-14.29 [[ 9.95907776e-01 2.42968290e-02 8.70480680e-02 1.19113950e+02] [-2.43719189e-02 9.99702941e-01 -2.00210422e-04 -2.31314389e+01] [-8.70270741e-02 -1.92213733e-03 9.96204092e-01 -1.42926623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.956296757 meters 0.07004389296465136 Centerline is valid? [True, True] Translation: X:119.15, Y:-23.13, Z:-14.30 [[ 9.95904745e-01 2.74610813e-02 8.61372607e-02 1.19146004e+02] [-2.75442946e-02 9.99620559e-01 -2.22525312e-04 -2.31293027e+01] [-8.61106875e-02 -2.15097607e-03 9.96283254e-01 -1.42962168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.986296757 meters 0.07026002608656576 Centerline is valid? [True, True] Translation: X:119.18, Y:-23.13, Z:-14.30 [[ 9.95954103e-01 2.94248425e-02 8.49093862e-02 1.19177693e+02] [-2.95122938e-02 9.99564392e-01 -2.25354447e-04 -2.31278933e+01] [-8.48790300e-02 -2.28142807e-03 9.96388652e-01 -1.43004077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.016296757 meters 0.07132354415856196 Centerline is valid? [True, True] Translation: X:119.21, Y:-23.12, Z:-14.31 [[ 9.95865625e-01 3.32931037e-02 8.45176124e-02 1.19207423e+02] [-3.33930307e-02 9.99442270e-01 -2.31475786e-04 -2.31228743e+01] [-8.44781810e-02 -2.59178045e-03 9.96421959e-01 -1.43059635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.04629675700001 meters 0.0714556556312679 Centerline is valid? [True, True] Translation: X:119.24, Y:-23.12, Z:-14.31 [[ 9.95853311e-01 3.52262049e-02 8.38766851e-02 1.19238822e+02] [-3.53316560e-02 9.99375616e-01 -2.27281187e-04 -2.31221632e+01] [-8.38323201e-02 -2.73716346e-03 9.96476116e-01 -1.43090734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.07629675700001 meters 0.07327090122296823 Centerline is valid? [True, True] Translation: X:119.27, Y:-23.12, Z:-14.32 [[ 9.95761944e-01 3.67380528e-02 8.43117161e-02 1.19268952e+02] [-3.68482928e-02 9.99320840e-01 -2.48767930e-04 -2.31151288e+01] [-8.42635942e-02 -2.85902917e-03 9.96439397e-01 -1.43164642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.10629675700001 meters 0.0725256270437682 Centerline is valid? [True, True] Translation: X:119.30, Y:-23.12, Z:-14.32 [[ 9.95584390e-01 3.96684171e-02 8.50772502e-02 1.19301373e+02] [-3.97892947e-02 9.99208055e-01 -2.75058322e-04 -2.31162357e+01] [-8.50207848e-02 -3.11132001e-03 9.96374320e-01 -1.43157569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.13629675700001 meters 0.07275913312740953 Centerline is valid? [True, True] Translation: X:119.33, Y:-23.11, Z:-14.32 [[ 9.95411757e-01 4.14818240e-02 8.62246607e-02 1.19333532e+02] [-4.16126275e-02 9.99133780e-01 -2.80580287e-04 -2.31140006e+01] [-8.61616101e-02 -3.30874177e-03 9.96275679e-01 -1.43191592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.16629675700001 meters 0.07404207751364475 Centerline is valid? [True, True] Translation: X:119.36, Y:-23.11, Z:-14.32 [[ 9.95181317e-01 4.52129968e-02 8.70053516e-02 1.19364318e+02] [-4.53584314e-02 9.98970730e-01 -3.05692513e-04 -2.31082946e+01] [-8.69296209e-02 -3.64220680e-03 9.96207797e-01 -1.43230578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19629675700001 meters 0.07415583637795575 Centerline is valid? [True, True] Translation: X:119.40, Y:-23.11, Z:-14.33 [[ 9.95057418e-01 4.69956388e-02 8.74765356e-02 1.19395931e+02] [-4.71477697e-02 9.98887872e-01 -3.27351582e-04 -2.31072940e+01] [-8.73946345e-02 -3.79858994e-03 9.96166527e-01 -1.43260812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22629675700001 meters 0.07402178784900315 Centerline is valid? [True, True] Translation: X:119.43, Y:-23.11, Z:-14.33 [[ 9.94898935e-01 4.81781598e-02 8.86282906e-02 1.19428691e+02] [-4.83371056e-02 9.98831016e-01 -3.53221883e-04 -2.31073823e+01] [-8.85417032e-02 -3.93261496e-03 9.96064707e-01 -1.43291892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.256296757 meters 0.07475338803880058 Centerline is valid? [True, True] Translation: X:119.46, Y:-23.10, Z:-14.33 [[ 9.94916002e-01 5.00859778e-02 8.73701567e-02 1.19459107e+02] [-5.02454364e-02 9.98736830e-01 -3.74521625e-04 -2.31037799e+01] [-8.72785516e-02 -4.01733409e-03 9.96175846e-01 -1.43349496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.286296757 meters 0.07491092366230792 Centerline is valid? [True, True] Translation: X:119.49, Y:-23.10, Z:-14.34 [[ 9.94787565e-01 5.08210712e-02 8.84020367e-02 1.19491343e+02] [-5.09854814e-02 9.98699315e-01 -3.98702211e-04 -2.31025725e+01] [-8.83073159e-02 -4.11059639e-03 9.96084796e-01 -1.43387731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.316296757 meters 0.07528539579428066 Centerline is valid? [True, True] Translation: X:119.52, Y:-23.10, Z:-14.34 [[ 9.94725187e-01 5.07122589e-02 8.91631556e-02 1.19522465e+02] [-5.08764817e-02 9.98704860e-01 -4.31362591e-04 -2.31005514e+01] [-8.90695522e-02 -4.10722042e-03 9.96016940e-01 -1.43425536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.346296757 meters 0.07505141559699445 Centerline is valid? [True, True] Translation: X:119.55, Y:-23.10, Z:-14.35 [[ 9.94753059e-01 5.03954694e-02 8.90317207e-02 1.19554669e+02] [-5.05569969e-02 9.98721080e-01 -4.41306377e-04 -2.31007818e+01] [-8.89400961e-02 -4.06218556e-03 9.96028693e-01 -1.43462233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.376296757 meters 0.07506243096646943 Centerline is valid? [True, True] Translation: X:119.59, Y:-23.10, Z:-14.35 [[ 9.94615454e-01 4.99879837e-02 9.07816024e-02 1.19585430e+02] [-5.01521475e-02 9.98741477e-01 -4.73352661e-04 -2.30999736e+01] [-9.06910136e-02 -4.08208844e-03 9.95870713e-01 -1.43492677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.406296757 meters 0.07411481718800698 Centerline is valid? [True, True] Translation: X:119.62, Y:-23.10, Z:-14.35 [[ 9.94687570e-01 4.72793151e-02 9.14401719e-02 1.19617353e+02] [-4.74322413e-02 9.98874332e-01 -5.01240385e-04 -2.31011661e+01] [-9.13609389e-02 -3.83863472e-03 9.95810446e-01 -1.43512877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.43629675700001 meters 0.07225463446242618 Centerline is valid? [True, True] Translation: X:119.65, Y:-23.11, Z:-14.35 [[ 9.94662900e-01 4.44012000e-02 9.31356477e-02 1.19649118e+02] [-4.45468598e-02 9.99007163e-01 -5.15464989e-04 -2.31061488e+01] [-9.30660664e-02 -3.63618673e-03 9.95653296e-01 -1.43517549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.46629675700001 meters 0.07204719482853415 Centerline is valid? [True, True] Translation: X:119.68, Y:-23.11, Z:-14.36 [[ 9.94688901e-01 4.29819291e-02 9.35229570e-02 1.19680417e+02] [-4.31224045e-02 9.99069662e-01 -5.19276142e-04 -2.31064681e+01] [-9.34582685e-02 -3.51641657e-03 9.95616988e-01 -1.43556527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.49629675700001 meters 0.07155886235302586 Centerline is valid? [True, True] Translation: X:119.71, Y:-23.11, Z:-14.36 [[ 9.94768950e-01 4.14680229e-02 9.33549140e-02 1.19712711e+02] [-4.15991585e-02 9.99134234e-01 -5.41697549e-04 -2.31078617e+01] [-9.32965536e-02 -3.34462196e-03 9.95632747e-01 -1.43583815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.52629675700001 meters 0.07182383034102464 Centerline is valid? [True, True] Translation: X:119.74, Y:-23.10, Z:-14.36 [[ 9.94698145e-01 3.91757543e-02 9.50834392e-02 1.19743005e+02] [-3.92987115e-02 9.99227339e-01 -5.79799458e-04 -2.31049749e+01] [-9.50326861e-02 -3.15993120e-03 9.95469137e-01 -1.43622203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.55629675700001 meters 0.07080670256926813 Centerline is valid? [True, True] Translation: X:119.77, Y:-23.11, Z:-14.36 [[ 9.94601638e-01 3.85004851e-02 9.63602312e-02 1.19774619e+02] [-3.86237972e-02 9.99253651e-01 -5.85909050e-04 -2.31081419e+01] [-9.63108706e-02 -3.13905193e-03 9.95346353e-01 -1.43641506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58629675700001 meters 0.07036931645927563 Centerline is valid? [True, True] Translation: X:119.81, Y:-23.11, Z:-14.37 [[ 9.94653054e-01 3.72194275e-02 9.63328452e-02 1.19806662e+02] [-3.73343560e-02 9.99302644e-01 -6.09772376e-04 -2.31079940e+01] [-9.62883623e-02 -2.99001278e-03 9.95348990e-01 -1.43668107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.616296757 meters 0.07045331486057872 Centerline is valid? [True, True] Translation: X:119.84, Y:-23.11, Z:-14.37 [[ 9.94543787e-01 3.63551548e-02 9.77801553e-02 1.19837241e+02] [-3.64669491e-02 9.99334652e-01 -6.44182462e-04 -2.31072124e+01] [-9.77385168e-02 -2.92507628e-03 9.95207831e-01 -1.43703126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.646296757 meters 0.07025037488969463 Centerline is valid? [True, True] Translation: X:119.87, Y:-23.11, Z:-14.37 [[ 9.94633677e-01 3.67388352e-02 9.67166303e-02 1.19869198e+02] [-3.68479056e-02 9.99320668e-01 -6.58723181e-04 -2.31082471e+01] [-9.66751283e-02 -2.90861700e-03 9.95311740e-01 -1.43731635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.676296757 meters 0.07051724600746523 Centerline is valid? [True, True] Translation: X:119.90, Y:-23.11, Z:-14.38 [[ 9.94725104e-01 3.71912649e-02 9.55969533e-02 1.19900237e+02] [-3.72976008e-02 9.99303975e-01 -6.74906577e-04 -2.31059885e+01] [-9.55555160e-02 -2.89419049e-03 9.95419895e-01 -1.43775299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.706296757 meters 0.07101061041152636 Centerline is valid? [True, True] Translation: X:119.93, Y:-23.10, Z:-14.38 [[ 9.94859447e-01 3.93363242e-02 9.33130993e-02 1.19932290e+02] [-3.94447928e-02 9.99221518e-01 -6.82399716e-04 -2.31018248e+01] [-9.32672998e-02 -3.00182406e-03 9.95636580e-01 -1.43830849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.736296757 meters 0.07110500972290222 Centerline is valid? [True, True] Translation: X:119.96, Y:-23.10, Z:-14.39 [[ 9.94875046e-01 4.03388969e-02 9.27168565e-02 1.19963528e+02] [-4.04499897e-02 9.99181332e-01 -6.81509155e-04 -2.31002428e+01] [-9.26684435e-02 -3.07237944e-03 9.95692282e-01 -1.43874088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.766296757 meters 0.07127600999724125 Centerline is valid? [True, True] Translation: X:119.99, Y:-23.10, Z:-14.39 [[ 9.94811082e-01 4.17746401e-02 9.27674000e-02 1.19994863e+02] [-4.18900880e-02 9.99121978e-01 -7.03234235e-04 -2.30984406e+01] [-9.27153255e-02 -3.18644934e-03 9.95687559e-01 -1.43909989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.79629675700001 meters 0.07153579423528421 Centerline is valid? [True, True] Translation: X:120.03, Y:-23.10, Z:-14.39 [[ 9.94707317e-01 4.25169694e-02 9.35396223e-02 1.20026510e+02] [-4.26356400e-02 9.99090421e-01 -7.30318900e-04 -2.30968773e+01] [-9.34855916e-02 -3.26166811e-03 9.95615290e-01 -1.43937871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.82629675700001 meters 0.07182897658156329 Centerline is valid? [True, True] Translation: X:120.06, Y:-23.09, Z:-14.39 [[ 9.94457451e-01 4.46026434e-02 9.52102038e-02 1.20057523e+02] [-4.47326171e-02 9.98998699e-01 -7.69858682e-04 -2.30947646e+01] [-9.51492074e-02 -3.49340988e-03 9.95456892e-01 -1.43948390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.85629675700001 meters 0.07353498544123395 Centerline is valid? [True, True] Translation: X:120.09, Y:-23.09, Z:-14.40 [[ 9.94384002e-01 4.68272347e-02 9.49087250e-02 1.20088545e+02] [-4.69644240e-02 9.98896251e-01 -7.88940303e-04 -2.30860628e+01] [-9.48409134e-02 -3.67282398e-03 9.95485666e-01 -1.44008352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.88629675700001 meters 0.07210559413905619 Centerline is valid? [True, True] Translation: X:120.12, Y:-23.09, Z:-14.40 [[ 9.94312465e-01 4.81553126e-02 9.49936238e-02 1.20120361e+02] [-4.82967890e-02 9.98832700e-01 -8.10598236e-04 -2.30891983e+01] [-9.49217724e-02 -3.78189907e-03 9.95477551e-01 -1.44024880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.91629675700001 meters 0.07305289105260353 Centerline is valid? [True, True] Translation: X:120.15, Y:-23.08, Z:-14.41 [[ 9.94247415e-01 5.04534565e-02 9.44802993e-02 1.20151037e+02] [-5.06014581e-02 9.98718581e-01 -8.30179681e-04 -2.30844702e+01] [-9.44011159e-02 -3.95543690e-03 9.95526385e-01 -1.44074085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94629675700001 meters 0.07380295361521363 Centerline is valid? [True, True] Translation: X:120.18, Y:-23.08, Z:-14.41 [[ 9.94341835e-01 5.30568482e-02 9.20287218e-02 1.20181523e+02] [-5.32060288e-02 9.98583208e-01 -8.33406762e-04 -2.30798276e+01] [-9.19425542e-02 -4.06779162e-03 9.95756004e-01 -1.44136374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97629675700001 meters 0.07419012777340145 Centerline is valid? [True, True] Translation: X:120.21, Y:-23.08, Z:-14.42 [[ 9.94379281e-01 5.45223093e-02 9.07588241e-02 1.20213158e+02] [-5.46734067e-02 9.98503952e-01 -8.22382934e-04 -2.30791029e+01] [-9.06678827e-02 -4.14433355e-03 9.95872562e-01 -1.44174557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.006296757 meters 0.07446958958884134 Centerline is valid? [True, True] Translation: X:120.24, Y:-23.08, Z:-14.42 [[ 9.94467275e-01 5.48141273e-02 8.96116632e-02 1.20244427e+02] [-5.49621437e-02 9.98488105e-01 -8.16866587e-04 -2.30784794e+01] [-8.95209556e-02 -4.11290203e-03 9.95976447e-01 -1.44222550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.03629675700003 meters 0.07444794818857492 Centerline is valid? [True, True] Translation: X:120.28, Y:-23.08, Z:-14.43 [[ 9.94378805e-01 5.47625356e-02 9.06192928e-02 1.20275928e+02] [-5.49128101e-02 9.98490803e-01 -8.35955756e-04 -2.30780670e+01] [-9.05283095e-02 -4.14490333e-03 9.95885257e-01 -1.44254124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.06629675700003 meters 0.07389742491642681 Centerline is valid? [True, True] Translation: X:120.31, Y:-23.08, Z:-14.43 [[ 9.94342762e-01 5.51343084e-02 9.07892094e-02 1.20308667e+02] [-5.52847390e-02 9.98470260e-01 -8.58991125e-04 -2.30793368e+01] [-9.06976854e-02 -4.16512614e-03 9.95869761e-01 -1.44280772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.09629675700003 meters 0.07449084042167159 Centerline is valid? [True, True] Translation: X:120.34, Y:-23.07, Z:-14.43 [[ 9.94201709e-01 5.54722107e-02 9.21183803e-02 1.20339173e+02] [-5.56259575e-02 9.98451272e-01 -8.99683195e-04 -2.30749396e+01] [-9.20256214e-02 -4.22970654e-03 9.95747656e-01 -1.44315197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.12629675700003 meters 0.07485015943864201 Centerline is valid? [True, True] Translation: X:120.37, Y:-23.07, Z:-14.44 [[ 9.94111013e-01 5.57993388e-02 9.28963220e-02 1.20370938e+02] [-5.59551154e-02 9.98432853e-01 -9.28955018e-04 -2.30729467e+01] [-9.28025749e-02 -4.27454001e-03 9.95675354e-01 -1.44351855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.15629675700004 meters 0.07467251964894973 Centerline is valid? [True, True] Translation: X:120.40, Y:-23.07, Z:-14.44 [[ 9.94001949e-01 5.63026704e-02 9.37557187e-02 1.20403918e+02] [-5.64614641e-02 9.98404317e-01 -9.60195499e-04 -2.30715133e+01] [-9.36601759e-02 -4.33914894e-03 9.95594769e-01 -1.44368549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.186296757 meters 0.07459703302211211 Centerline is valid? [True, True] Translation: X:120.44, Y:-23.07, Z:-14.44 [[ 9.93908678e-01 5.64469187e-02 9.46534957e-02 1.20436031e+02] [-5.66068217e-02 9.98396051e-01 -9.96997640e-04 -2.30714759e+01] [-9.45579538e-02 -4.36710895e-03 9.95509780e-01 -1.44403593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.216296757 meters 0.07418881868278188 Centerline is valid? [True, True] Translation: X:120.47, Y:-23.07, Z:-14.44 [[ 9.93866048e-01 5.68499161e-02 9.48597139e-02 1.20468760e+02] [-5.70101470e-02 9.98373076e-01 -1.02231091e-03 -2.30728142e+01] [-9.47635026e-02 -4.39192612e-03 9.95490125e-01 -1.44429466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.246296757 meters 0.07429170043083193 Centerline is valid? [True, True] Translation: X:120.50, Y:-23.07, Z:-14.45 [[ 9.93800765e-01 5.65617829e-02 9.57120915e-02 1.20500117e+02] [-5.67208502e-02 9.98389514e-01 -1.06012361e-03 -2.30703988e+01] [-9.56179109e-02 -4.37531955e-03 9.95408495e-01 -1.44472594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.276296757 meters 0.07412402494918997 Centerline is valid? [True, True] Translation: X:120.53, Y:-23.07, Z:-14.45 [[ 9.93817313e-01 5.77186595e-02 9.48456942e-02 1.20531493e+02] [-5.78778433e-02 9.98323095e-01 -1.07404061e-03 -2.30698306e+01] [-9.47486392e-02 -4.42206407e-03 9.95491407e-01 -1.44508035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.306296757 meters 0.07503277385784289 Centerline is valid? [True, True] Translation: X:120.56, Y:-23.06, Z:-14.46 [[ 9.93598567e-01 5.92979949e-02 9.61542224e-02 1.20562315e+02] [-5.94667977e-02 9.98229665e-01 -1.11167872e-03 -2.30631135e+01] [-9.60499175e-02 -4.61342131e-03 9.95365827e-01 -1.44551407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.336296757 meters 0.07514709721127824 Centerline is valid? [True, True] Translation: X:120.59, Y:-23.06, Z:-14.46 [[ 9.93578424e-01 6.00438387e-02 9.58991805e-02 1.20594176e+02] [-6.02131024e-02 9.98184905e-01 -1.13050033e-03 -2.30613745e+01] [-9.57929939e-02 -4.65114643e-03 9.95390410e-01 -1.44584652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.36629675700001 meters 0.0746983765362039 Centerline is valid? [True, True] Translation: X:120.63, Y:-23.06, Z:-14.46 [[ 9.93453013e-01 6.12187710e-02 9.64539935e-02 1.20625665e+02] [-6.13931909e-02 9.98112983e-01 -1.16117244e-03 -2.30619259e+01] [-9.63430687e-02 -4.76804817e-03 9.95336767e-01 -1.44623061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.39629675700002 meters 0.07607585764068103 Centerline is valid? [True, True] Translation: X:120.66, Y:-23.06, Z:-14.47 [[ 9.93536484e-01 6.18381019e-02 9.51908832e-02 1.20656061e+02] [-6.20082977e-02 9.98074946e-01 -1.17189949e-03 -2.30555376e+01] [-9.50801036e-02 -4.73829973e-03 9.95458348e-01 -1.44675066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.42629675700002 meters 0.07607585764068103 Centerline is valid? [True, True] Translation: X:120.69, Y:-23.06, Z:-14.47 [[ 9.93519126e-01 6.21165598e-02 9.51907533e-02 1.20688282e+02] [-6.22870269e-02 9.98057578e-01 -1.18236919e-03 -2.30560556e+01] [-9.50792973e-02 -4.75444261e-03 9.95458348e-01 -1.44711188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.45629675700002 meters 0.07578873962081338 Centerline is valid? [True, True] Translation: X:120.72, Y:-23.06, Z:-14.48 [[ 9.93675177e-01 6.20590721e-02 9.35858663e-02 1.20719583e+02] [-6.22210376e-02 9.98061686e-01 -1.18908537e-03 -2.30564721e+01] [-9.34782610e-02 -4.64144509e-03 9.95610502e-01 -1.44752870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.48629675700002 meters 0.07529888180039643 Centerline is valid? [True, True] Translation: X:120.75, Y:-23.06, Z:-14.48 [[ 9.93756228e-01 5.97409987e-02 9.42314842e-02 1.20750471e+02] [-5.98924721e-02 9.98204086e-01 -1.22243451e-03 -2.30552161e+01] [-9.41352820e-02 -4.42895463e-03 9.95549563e-01 -1.44809235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51629675700002 meters 0.07508824126452461 Centerline is valid? [True, True] Translation: X:120.78, Y:-23.06, Z:-14.48 [[ 9.93802977e-01 5.93919462e-02 9.39587171e-02 1.20782388e+02] [-5.95410136e-02 9.98225116e-01 -1.21857643e-03 -2.30551787e+01] [-9.38643250e-02 -4.38337237e-03 9.95575349e-01 -1.44839000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54629675700002 meters 0.07426430875311264 Centerline is valid? [True, True] Translation: X:120.81, Y:-23.06, Z:-14.49 [[ 9.93969304e-01 5.50633507e-02 9.48316886e-02 1.20812221e+02] [-5.51929628e-02 9.98474915e-01 -1.25763333e-03 -2.30562606e+01] [-9.47563117e-02 -3.98399295e-03 9.95492526e-01 -1.44880205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57629675700002 meters 0.07395072701356822 Centerline is valid? [True, True] Translation: X:120.84, Y:-23.06, Z:-14.49 [[ 9.94114489e-01 5.35229486e-02 9.41895767e-02 1.20844366e+02] [-5.36442971e-02 9.98559332e-01 -1.24500838e-03 -2.30570902e+01] [-9.41205173e-02 -3.81505276e-03 9.95553501e-01 -1.44920724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60629675700002 meters 0.07329403692583424 Centerline is valid? [True, True] Translation: X:120.88, Y:-23.06, Z:-14.49 [[ 9.94205973e-01 5.19525114e-02 9.41032391e-02 1.20875943e+02] [-5.20644812e-02 9.98642922e-01 -1.26658314e-03 -2.30590744e+01] [-9.40413358e-02 -3.64019179e-03 9.95561639e-01 -1.44949655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.63629675700003 meters 0.07351831308795433 Centerline is valid? [True, True] Translation: X:120.91, Y:-23.06, Z:-14.50 [[ 9.94305189e-01 4.99687982e-02 9.41292260e-02 1.20906763e+02] [-5.00697545e-02 9.98744890e-01 -1.29040884e-03 -2.30573040e+01] [-9.40755636e-02 -3.42996703e-03 9.95559151e-01 -1.44997781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.66629675700003 meters 0.07268591346563197 Centerline is valid? [True, True] Translation: X:120.94, Y:-23.06, Z:-14.50 [[ 9.94315826e-01 4.90727761e-02 9.44875662e-02 1.20939089e+02] [-4.91684625e-02 9.98789632e-01 -1.31657055e-03 -2.30604414e+01] [-9.44378093e-02 -3.33672142e-03 9.95525171e-01 -1.45021376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.69629675700003 meters 0.07226137080577615 Centerline is valid? [True, True] Translation: X:120.97, Y:-23.06, Z:-14.51 [[ 9.94193823e-01 4.82788410e-02 9.61654639e-02 1.20970845e+02] [-4.83719658e-02 9.98828460e-01 -1.36401186e-03 -2.30598944e+01] [-9.61186552e-02 -3.29562037e-03 9.95364427e-01 -1.45054305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.72629675700003 meters 0.07326572150781556 Centerline is valid? [True, True] Translation: X:121.00, Y:-23.05, Z:-14.51 [[ 9.94212400e-01 4.88265067e-02 9.56957433e-02 1.21001843e+02] [-4.89189563e-02 9.98801796e-01 -1.38114489e-03 -2.30544754e+01] [-9.56485168e-02 -3.30818450e-03 9.95409673e-01 -1.45112168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.75629675700003 meters 0.07228041724273566 Centerline is valid? [True, True] Translation: X:121.03, Y:-23.06, Z:-14.51 [[ 9.94169515e-01 4.87952476e-02 9.61561191e-02 1.21033784e+02] [-4.88863491e-02 9.98803353e-01 -1.40957162e-03 -2.30584995e+01] [-9.61098345e-02 -3.29936847e-03 9.95365267e-01 -1.45129446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.78629675700003 meters 0.07246864705626596 Centerline is valid? [True, True] Translation: X:121.07, Y:-23.06, Z:-14.52 [[ 9.94289085e-01 4.98972712e-02 9.43370464e-02 1.21065171e+02] [-4.99877056e-02 9.98748844e-01 -1.40572430e-03 -2.30560574e+01] [-9.42891578e-02 -3.31799617e-03 9.95539324e-01 -1.45190627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.81629675700003 meters 0.07371913471303271 Centerline is valid? [True, True] Translation: X:121.10, Y:-23.05, Z:-14.53 [[ 9.94366423e-01 5.20879743e-02 9.23160843e-02 1.21095562e+02] [-5.21818612e-02 9.98636620e-01 -1.39810881e-03 -2.30502479e+01] [-9.22630471e-02 -3.42699264e-03 9.95728771e-01 -1.45259268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.84629675700003 meters 0.07506139956840724 Centerline is valid? [True, True] Translation: X:121.13, Y:-23.05, Z:-14.53 [[ 9.94478496e-01 5.32275801e-02 9.04397345e-02 1.21126600e+02] [-5.33205200e-02 9.98576482e-01 -1.38986642e-03 -2.30453365e+01] [-9.03849711e-02 -3.44010140e-03 9.95900960e-01 -1.45320281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.87629675700003 meters 0.07343764833853263 Centerline is valid? [True, True] Translation: X:121.16, Y:-23.05, Z:-14.53 [[ 9.94384716e-01 5.43524298e-02 9.08011572e-02 1.21158669e+02] [-5.44490317e-02 9.98515549e-01 -1.41475495e-03 -2.30510517e+01] [-9.07432627e-02 -3.53722439e-03 9.95868038e-01 -1.45327745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.90629675700004 meters 0.07321554478050032 Centerline is valid? [True, True] Translation: X:121.19, Y:-23.05, Z:-14.54 [[ 9.94289111e-01 5.59657501e-02 9.08680263e-02 1.21190679e+02] [-5.60671984e-02 9.98425962e-01 -1.43783300e-03 -2.30505236e+01] [-9.08054659e-02 -3.66509397e-03 9.95861905e-01 -1.45351191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.936296757 meters 0.07427591532785364 Centerline is valid? [True, True] Translation: X:121.22, Y:-23.05, Z:-14.54 [[ 9.94199736e-01 5.72248899e-02 9.10614997e-02 1.21221349e+02] [-5.73299142e-02 9.98354214e-01 -1.46411379e-03 -2.30460882e+01] [-9.09954158e-02 -3.76492643e-03 9.95844194e-01 -1.45399471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.966296757 meters 0.07359919395835957 Centerline is valid? [True, True] Translation: X:121.25, Y:-23.05, Z:-14.54 [[ 9.94018845e-01 5.94170638e-02 9.16304941e-02 1.21253593e+02] [-5.95304472e-02 9.98225367e-01 -1.49768802e-03 -2.30463425e+01] [-9.15568718e-02 -3.96607417e-03 9.95791951e-01 -1.45410299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.996296757 meters 0.07414245250655849 Centerline is valid? [True, True] Translation: X:121.28, Y:-23.04, Z:-14.54 [[ 9.93930958e-01 6.13264886e-02 9.13253079e-02 1.21284837e+02] [-6.14468293e-02 9.98109237e-01 -1.49606743e-03 -2.30442231e+01] [-9.12443820e-02 -4.12466287e-03 9.95819989e-01 -1.45444900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.026296757 meters 0.07482704459376927 Centerline is valid? [True, True] Translation: X:121.32, Y:-23.04, Z:-14.55 [[ 9.93882880e-01 6.33043874e-02 9.04951669e-02 1.21315624e+02] [-6.34286115e-02 9.97985243e-01 -1.50542125e-03 -2.30412637e+01] [-9.04081409e-02 -4.24377037e-03 9.95895757e-01 -1.45480591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.056296757 meters 0.0751158330233869 Centerline is valid? [True, True] Translation: X:121.35, Y:-23.04, Z:-14.55 [[ 9.93895220e-01 6.59955952e-02 8.84130810e-02 1.21347042e+02] [-6.61236675e-02 9.97810334e-01 -1.48269630e-03 -2.30397440e+01] [-8.83173373e-02 -4.37255241e-03 9.96082792e-01 -1.45512608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.086296757 meters 0.07596043935087508 Centerline is valid? [True, True] Translation: X:121.38, Y:-23.04, Z:-14.56 [[ 9.93895199e-01 6.63702940e-02 8.81323865e-02 1.21378205e+02] [-6.64992056e-02 9.97785387e-01 -1.47582732e-03 -2.30367421e+01] [-8.80351584e-02 -4.39391600e-03 9.96107677e-01 -1.45570136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.11629675700001 meters 0.07511015897563485 Centerline is valid? [True, True] Translation: X:121.41, Y:-23.04, Z:-14.56 [[ 9.94053241e-01 6.60930387e-02 8.65440003e-02 1.21410989e+02] [-6.62143501e-02 9.97804337e-01 -1.47129037e-03 -2.30395326e+01] [-8.64512209e-02 -4.26791377e-03 9.96246943e-01 -1.45602446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.14629675700002 meters 0.07596761763329743 Centerline is valid? [True, True] Translation: X:121.44, Y:-23.04, Z:-14.57 [[ 9.94075905e-01 6.50397774e-02 8.70799770e-02 1.21441613e+02] [-6.51562913e-02 9.97873934e-01 -1.50665221e-03 -2.30374094e+01] [-8.69928315e-02 -4.17608169e-03 9.96200185e-01 -1.45653327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.17629675700002 meters 0.07428409866877131 Centerline is valid? [True, True] Translation: X:121.47, Y:-23.04, Z:-14.57 [[ 9.94187619e-01 6.33205915e-02 8.70717027e-02 1.21473507e+02] [-6.34284104e-02 9.97985217e-01 -1.53062353e-03 -2.30437118e+01] [-8.69931921e-02 -4.00109273e-03 9.96200871e-01 -1.45662833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.20629675700002 meters 0.07328179917737526 Centerline is valid? [True, True] Translation: X:121.50, Y:-23.05, Z:-14.57 [[ 9.94388511e-01 5.95477163e-02 8.74388855e-02 1.21504178e+02] [-5.96414361e-02 9.98218673e-01 -1.54260294e-03 -2.30484131e+01] [-8.73749868e-02 -3.68103406e-03 9.96168691e-01 -1.45685665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.23629675700002 meters 0.07248318013527105 Centerline is valid? [True, True] Translation: X:121.53, Y:-23.05, Z:-14.57 [[ 9.94515216e-01 5.54350123e-02 8.86929841e-02 1.21534310e+02] [-5.55149872e-02 9.98456625e-01 -1.56670602e-03 -2.30514915e+01] [-8.86429479e-02 -3.36567690e-03 9.96057779e-01 -1.45708732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26629675700002 meters 0.07186484189102978 Centerline is valid? [True, True] Translation: X:121.57, Y:-23.05, Z:-14.57 [[ 9.94611167e-01 5.35485105e-02 8.87760356e-02 1.21566312e+02] [-5.36216303e-02 9.98560103e-01 -1.56273925e-03 -2.30543822e+01] [-8.87318895e-02 -3.20599786e-03 9.96050387e-01 -1.45737641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29629675700002 meters 0.07190486106415188 Centerline is valid? [True, True] Translation: X:121.60, Y:-23.06, Z:-14.58 [[ 9.94604503e-01 5.27922590e-02 8.93020744e-02 1.21598068e+02] [-5.28612541e-02 9.98600594e-01 -1.59391456e-03 -2.30556031e+01] [-8.92612510e-02 -3.13530506e-03 9.96003313e-01 -1.45775529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32629675700002 meters 0.07167432469926577 Centerline is valid? [True, True] Translation: X:121.63, Y:-23.06, Z:-14.58 [[ 9.94698990e-01 5.17588583e-02 8.88534787e-02 1.21629355e+02] [-5.18211455e-02 9.98655088e-01 -1.60720915e-03 -2.30565904e+01] [-8.88171659e-02 -3.00579973e-03 9.96043411e-01 -1.45816808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35629675700002 meters 0.0714053765643442 Centerline is valid? [True, True] Translation: X:121.66, Y:-23.06, Z:-14.59 [[ 9.94665572e-01 5.09156847e-02 8.97106035e-02 1.21660845e+02] [-5.09738081e-02 9.98698636e-01 -1.64454239e-03 -2.30596506e+01] [-8.96775904e-02 -2.93712139e-03 9.95966517e-01 -1.45857356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.38629675700003 meters 0.07110970667791518 Centerline is valid? [True, True] Translation: X:121.69, Y:-23.06, Z:-14.59 [[ 9.94772810e-01 5.02053825e-02 8.89183698e-02 1.21692437e+02] [-5.02577904e-02 9.98734914e-01 -1.65078457e-03 -2.30629794e+01] [-8.88887587e-02 -2.82668519e-03 9.96037549e-01 -1.45891257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.41629675700003 meters 0.07134120119753043 Centerline is valid? [True, True] Translation: X:121.72, Y:-23.06, Z:-14.59 [[ 9.94751634e-01 4.96049008e-02 8.94904469e-02 1.21723028e+02] [-4.96534650e-02 9.98765085e-01 -1.68484477e-03 -2.30630441e+01] [-8.94635103e-02 -2.76750868e-03 9.95986256e-01 -1.45941595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.44629675700003 meters 0.07129768264886052 Centerline is valid? [True, True] Translation: X:121.75, Y:-23.06, Z:-14.60 [[ 9.94747947e-01 5.01414417e-02 8.92320412e-02 1.21754938e+02] [-5.01909917e-02 9.98738208e-01 -1.68983778e-03 -2.30646325e+01] [-8.92041799e-02 -2.79768198e-03 9.96009431e-01 -1.45978642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.47629675700003 meters 0.07112325634871891 Centerline is valid? [True, True] Translation: X:121.79, Y:-23.07, Z:-14.60 [[ 9.94769227e-01 5.10731359e-02 8.84630989e-02 1.21786374e+02] [-5.11237046e-02 9.98690889e-01 -1.69548000e-03 -2.30675054e+01] [-8.84338844e-02 -2.83595001e-03 9.96078012e-01 -1.46020762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.50629675700003 meters 0.07202771128878149 Centerline is valid? [True, True] Translation: X:121.82, Y:-23.07, Z:-14.61 [[ 9.94808964e-01 5.20468839e-02 8.74428185e-02 1.21816721e+02] [-5.20981711e-02 9.98640526e-01 -1.69710715e-03 -2.30653931e+01] [-8.74122714e-02 -2.86731352e-03 9.96168095e-01 -1.46080514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.53629675700003 meters 0.0719535851213548 Centerline is valid? [True, True] Translation: X:121.85, Y:-23.07, Z:-14.61 [[ 9.94837363e-01 5.38450848e-02 8.60193478e-02 1.21848565e+02] [-5.38994480e-02 9.98544935e-01 -1.69208353e-03 -2.30695158e+01] [-8.59852944e-02 -2.95304745e-03 9.96292030e-01 -1.46101759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.56629675700003 meters 0.07193337876085258 Centerline is valid? [True, True] Translation: X:121.88, Y:-23.07, Z:-14.61 [[ 9.94753814e-01 5.49582034e-02 8.62811979e-02 1.21880486e+02] [-5.50169312e-02 9.98483976e-01 -1.69890240e-03 -2.30702894e+01] [-8.62437622e-02 -3.05693709e-03 9.96269376e-01 -1.46140352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.59629675700003 meters 0.07230694478783234 Centerline is valid? [True, True] Translation: X:121.91, Y:-23.07, Z:-14.62 [[ 9.94604529e-01 5.63901863e-02 8.70745551e-02 1.21911888e+02] [-5.64534198e-02 9.98403721e-01 -1.73810643e-03 -2.30688566e+01] [-8.70335719e-02 -3.18692788e-03 9.96200281e-01 -1.46181100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.62629675700003 meters 0.07334364370803632 Centerline is valid? [True, True] Translation: X:121.94, Y:-23.06, Z:-14.62 [[ 9.94308860e-01 6.03506910e-02 8.77934279e-02 1.21941520e+02] [-6.04291010e-02 9.98170928e-01 -1.76681598e-03 -2.30637982e+01] [-8.77394760e-02 -3.54851714e-03 9.96137135e-01 -1.46228711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.65629675700004 meters 0.0733588401830093 Centerline is valid? [True, True] Translation: X:121.97, Y:-23.06, Z:-14.63 [[ 9.94196495e-01 6.23112645e-02 8.76962680e-02 1.21973278e+02] [-6.23972361e-02 9.98049836e-01 -1.76328970e-03 -2.30635927e+01] [-8.76351187e-02 -3.71894830e-03 9.96145700e-01 -1.46262543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.686296757 meters 0.07356984991576351 Centerline is valid? [True, True] Translation: X:122.00, Y:-23.06, Z:-14.63 [[ 9.94020251e-01 6.64393499e-02 8.66576743e-02 1.22004342e+02] [-6.65382973e-02 9.97782338e-01 -1.74935303e-03 -2.30646744e+01] [-8.65817228e-02 -4.02716176e-03 9.96236612e-01 -1.46279737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.716296757 meters 0.07316813350517591 Centerline is valid? [True, True] Translation: X:122.04, Y:-23.07, Z:-14.63 [[ 9.93948140e-01 6.75251891e-02 8.66455079e-02 1.22036478e+02] [-6.76285761e-02 9.97709041e-01 -1.74497465e-03 -2.30664353e+01] [-8.65648364e-02 -4.12529803e-03 9.96237678e-01 -1.46308105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.746296757 meters 0.07462527521069977 Centerline is valid? [True, True] Translation: X:122.07, Y:-23.06, Z:-14.64 [[ 9.93885208e-01 6.98292599e-02 8.55340145e-02 1.22065849e+02] [-6.99363555e-02 9.97549925e-01 -1.74741839e-03 -2.30611825e+01] [-8.54464706e-02 -4.24520396e-03 9.96333719e-01 -1.46362161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.776296757 meters 0.07382987536316239 Centerline is valid? [True, True] Translation: X:122.10, Y:-23.06, Z:-14.64 [[ 9.93809778e-01 7.02265819e-02 8.60834067e-02 1.22098722e+02] [-7.03363299e-02 9.97521779e-01 -1.76122704e-03 -2.30633789e+01] [-8.59937579e-02 -4.30446624e-03 9.96286377e-01 -1.46387753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.806296757 meters 0.07463076807055354 Centerline is valid? [True, True] Translation: X:122.13, Y:-23.06, Z:-14.64 [[ 9.93800252e-01 7.14278734e-02 8.52004614e-02 1.22129575e+02] [-7.15376168e-02 9.97436335e-01 -1.76823880e-03 -2.30628905e+01] [-8.51083375e-02 -4.33776179e-03 9.96362261e-01 -1.46423883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.836296757 meters 0.0744975420603098 Centerline is valid? [True, True] Translation: X:122.16, Y:-23.06, Z:-14.65 [[ 9.93753107e-01 7.15210711e-02 8.56708711e-02 1.22161033e+02] [-7.16307508e-02 9.97429600e-01 -1.79701905e-03 -2.30645824e+01] [-8.55791874e-02 -4.35087555e-03 9.96321872e-01 -1.46455005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.86629675700001 meters 0.07449894542735133 Centerline is valid? [True, True] Translation: X:122.19, Y:-23.07, Z:-14.65 [[ 9.93781720e-01 7.16745905e-02 8.52094296e-02 1.22193815e+02] [-7.17819626e-02 9.97418711e-01 -1.80702293e-03 -2.30657848e+01] [-8.51189971e-02 -4.32071374e-03 9.96361424e-01 -1.46487508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.89629675700002 meters 0.07357086884551536 Centerline is valid? [True, True] Translation: X:122.23, Y:-23.07, Z:-14.65 [[ 9.93909956e-01 7.06346500e-02 8.45798175e-02 1.22225745e+02] [-7.07346433e-02 9.97493512e-01 -1.81767823e-03 -2.30702281e+01] [-8.44962103e-02 -4.17611473e-03 9.96415049e-01 -1.46515937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.92629675700002 meters 0.07291472227189601 Centerline is valid? [True, True] Translation: X:122.26, Y:-23.07, Z:-14.65 [[ 9.93904323e-01 7.07330709e-02 8.45637628e-02 1.22258228e+02] [-7.08316975e-02 9.97486589e-01 -1.83718564e-03 -2.30727817e+01] [-8.44811691e-02 -4.16380812e-03 9.96416376e-01 -1.46549566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.95629675700002 meters 0.07299683000091714 Centerline is valid? [True, True] Translation: X:122.29, Y:-23.07, Z:-14.66 [[ 9.94022479e-01 6.95533151e-02 8.41525238e-02 1.22289593e+02] [-6.96446523e-02 9.97570142e-01 -1.85330606e-03 -2.30743750e+01] [-8.40769487e-02 -4.01854538e-03 9.96451162e-01 -1.46586538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.98629675700002 meters 0.07290888086617413 Centerline is valid? [True, True] Translation: X:122.32, Y:-23.08, Z:-14.66 [[ 9.94002621e-01 6.80286870e-02 8.56206036e-02 1.22319837e+02] [-6.81152548e-02 9.97675624e-01 -1.91333585e-03 -2.30770649e+01] [-8.55517508e-02 -3.93020838e-03 9.96325976e-01 -1.46610448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01629675700002 meters 0.07243574952805953 Centerline is valid? [True, True] Translation: X:122.35, Y:-23.08, Z:-14.66 [[ 9.93955031e-01 6.73603953e-02 8.66947130e-02 1.22351993e+02] [-6.74469830e-02 9.97720986e-01 -1.93335775e-03 -2.30795513e+01] [-8.66273663e-02 -3.92562617e-03 9.96233049e-01 -1.46638574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04629675700002 meters 0.07263188994713289 Centerline is valid? [True, True] Translation: X:122.38, Y:-23.08, Z:-14.67 [[ 9.93953506e-01 6.68483524e-02 8.71075515e-02 1.22382860e+02] [-6.69319004e-02 9.97755612e-01 -1.96448765e-03 -2.30789390e+01] [-8.70433711e-02 -3.87766457e-03 9.96196976e-01 -1.46672888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07629675700002 meters 0.07235440116546522 Centerline is valid? [True, True] Translation: X:122.42, Y:-23.08, Z:-14.67 [[ 9.93845018e-01 6.74985146e-02 8.78409364e-02 1.22415400e+02] [-6.75843457e-02 9.97711560e-01 -2.00001253e-03 -2.30795750e+01] [-8.77749155e-02 -3.94896972e-03 9.96132506e-01 -1.46710200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10629675700002 meters 0.07300602065405185 Centerline is valid? [True, True] Translation: X:122.45, Y:-23.08, Z:-14.68 [[ 9.93833173e-01 6.82252057e-02 8.74124989e-02 1.22446018e+02] [-6.83107676e-02 9.97662055e-01 -2.01563848e-03 -2.30779589e+01] [-8.73456507e-02 -3.96800651e-03 9.96170162e-01 -1.46756531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.13629675700003 meters 0.0729695725239139 Centerline is valid? [True, True] Translation: X:122.48, Y:-23.08, Z:-14.68 [[ 9.93846857e-01 6.94053575e-02 8.63210307e-02 1.22478185e+02] [-6.94912507e-02 9.97580530e-01 -2.01309253e-03 -2.30786452e+01] [-8.62518989e-02 -3.99785069e-03 9.96265340e-01 -1.46795768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.16629675700003 meters 0.07559463801475631 Centerline is valid? [True, True] Translation: X:122.51, Y:-23.07, Z:-14.69 [[ 9.93855577e-01 7.03985770e-02 8.54115501e-02 1.22509034e+02] [-7.04861476e-02 9.97510766e-01 -1.99373048e-03 -2.30720178e+01] [-8.53392966e-02 -4.03885097e-03 9.96343762e-01 -1.46868852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.19629675700003 meters 0.07418629733224656 Centerline is valid? [True, True] Translation: X:122.54, Y:-23.08, Z:-14.69 [[ 9.93838370e-01 7.13097792e-02 8.48540530e-02 1.22541282e+02] [-7.13979398e-02 9.97445907e-01 -1.99914257e-03 -2.30763502e+01] [-8.47798863e-02 -4.07157997e-03 9.96391386e-01 -1.46884121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.22629675700003 meters 0.07404691951718753 Centerline is valid? [True, True] Translation: X:122.57, Y:-23.08, Z:-14.69 [[ 9.93788526e-01 7.23033647e-02 8.45966304e-02 1.22573361e+02] [-7.23929160e-02 9.97374160e-01 -2.01259070e-03 -2.30767866e+01] [-8.45200102e-02 -4.12410721e-03 9.96413247e-01 -1.46922523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.25629675700003 meters 0.07493146474274599 Centerline is valid? [True, True] Translation: X:122.60, Y:-23.07, Z:-14.70 [[ 9.93833957e-01 7.28981542e-02 8.35459499e-02 1.22603724e+02] [-7.29858999e-02 9.97330952e-01 -2.00751644e-03 -2.30728944e+01] [-8.34693061e-02 -4.10253833e-03 9.96501904e-01 -1.46980531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.28629675700003 meters 0.07325317620438805 Centerline is valid? [True, True] Translation: X:122.64, Y:-23.08, Z:-14.70 [[ 9.93774551e-01 7.31519639e-02 8.40293493e-02 1.22635416e+02] [-7.32401325e-02 9.97312255e-01 -2.03702903e-03 -2.30779527e+01] [-8.39525125e-02 -4.12997307e-03 9.96461198e-01 -1.46982673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.31629675700003 meters 0.07325317620438805 Centerline is valid? [True, True] Translation: X:122.67, Y:-23.08, Z:-14.70 [[ 9.93754193e-01 7.34285578e-02 8.40288731e-02 1.22667641e+02] [-7.35160720e-02 9.97291912e-01 -2.05646038e-03 -2.30788433e+01] [-8.39523185e-02 -4.13385656e-03 9.96461198e-01 -1.47018863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.34629675700003 meters 0.07257319342900201 Centerline is valid? [True, True] Translation: X:122.70, Y:-23.08, Z:-14.70 [[ 9.93524864e-01 7.38208014e-02 8.63645356e-02 1.22699533e+02] [-7.39122125e-02 9.97262449e-01 -2.14315167e-03 -2.30806492e+01] [-8.62863175e-02 -4.25411944e-03 9.96261298e-01 -1.47032178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.37629675700003 meters 0.07315507053273518 Centerline is valid? [True, True] Translation: X:122.73, Y:-23.08, Z:-14.71 [[ 9.93383178e-01 7.45944584e-02 8.73242730e-02 1.22731302e+02] [-7.46905878e-02 9.97204395e-01 -2.17062475e-03 -2.30798253e+01] [-8.72420653e-02 -4.36603916e-03 9.96177574e-01 -1.47064725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.40629675700004 meters 0.0735023577799721 Centerline is valid? [True, True] Translation: X:122.76, Y:-23.08, Z:-14.71 [[ 9.93319151e-01 7.59631665e-02 8.68715188e-02 1.22763294e+02] [-7.60610722e-02 9.97100762e-01 -2.18727098e-03 -2.30789704e+01] [-8.67858097e-02 -4.43488271e-03 9.96217122e-01 -1.47093686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.436296757 meters 0.07311614740836621 Centerline is valid? [True, True] Translation: X:122.79, Y:-23.08, Z:-14.71 [[ 9.93245259e-01 7.71784755e-02 8.66448983e-02 1.22794918e+02] [-7.72803224e-02 9.97007014e-01 -2.18325158e-03 -2.30803131e+01] [-8.65540713e-02 -4.52744140e-03 9.96236867e-01 -1.47129377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.466296757 meters 0.07378870401306256 Centerline is valid? [True, True] Translation: X:122.83, Y:-23.08, Z:-14.72 [[ 9.93333353e-01 7.78235434e-02 8.50432009e-02 1.22825381e+02] [-7.79219433e-02 9.96957108e-01 -2.16677682e-03 -2.30787765e+01] [-8.49530499e-02 -4.47439980e-03 9.96374909e-01 -1.47180543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.496296757 meters 0.07770864486175912 Centerline is valid? [True, True] Translation: X:122.86, Y:-23.07, Z:-14.73 [[ 9.93343643e-01 7.94434062e-02 8.34095467e-02 1.22855807e+02] [-7.95430921e-02 9.96829147e-01 -2.13258465e-03 -2.30698522e+01] [-8.33144871e-02 -4.51626385e-03 9.96513070e-01 -1.47264684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.526296757 meters 0.07480360686689692 Centerline is valid? [True, True] Translation: X:122.89, Y:-23.08, Z:-14.73 [[ 9.93366494e-01 7.99760831e-02 8.26246650e-02 1.22887691e+02] [-8.00742268e-02 9.96786627e-01 -2.13055284e-03 -2.30788156e+01] [-8.25295543e-02 -4.49968636e-03 9.96578459e-01 -1.47259626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.556296757 meters 0.07526283803118253 Centerline is valid? [True, True] Translation: X:122.92, Y:-23.08, Z:-14.73 [[ 9.93430902e-01 8.00643183e-02 8.17603111e-02 1.22918774e+02] [-8.01590532e-02 9.96779813e-01 -2.12836471e-03 -2.30800621e+01] [-8.16674337e-02 -4.43944585e-03 9.96649749e-01 -1.47304457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.586296757 meters 0.07513166661711031 Centerline is valid? [True, True] Translation: X:122.95, Y:-23.08, Z:-14.73 [[ 9.93452810e-01 8.01776042e-02 8.13822256e-02 1.22951203e+02] [-8.02704732e-02 9.96770832e-01 -2.13523352e-03 -2.30820401e+01] [-8.12906267e-02 -4.41133602e-03 9.96680678e-01 -1.47341354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.61629675700001 meters 0.07334489641210226 Centerline is valid? [True, True] Translation: X:122.98, Y:-23.09, Z:-14.73 [[ 9.93392513e-01 8.00910322e-02 8.21993977e-02 1.22983088e+02] [-8.01835594e-02 9.96777730e-01 -2.18018189e-03 -2.30880377e+01] [-8.21091420e-02 -4.42526392e-03 9.96613519e-01 -1.47347271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.64629675700002 meters 0.0729352554111112 Centerline is valid? [True, True] Translation: X:123.02, Y:-23.09, Z:-14.74 [[ 9.93237522e-01 8.08416274e-02 8.33298020e-02 1.23015729e+02] [-8.09376792e-02 9.96716669e-01 -2.23038577e-03 -2.30902958e+01] [-8.32365107e-02 -4.52921796e-03 9.96519528e-01 -1.47373834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.67629675700002 meters 0.073935369185918 Centerline is valid? [True, True] Translation: X:123.05, Y:-23.09, Z:-14.74 [[ 9.93113230e-01 8.17814567e-02 8.38922326e-02 1.23046306e+02] [-8.18799830e-02 9.96639609e-01 -2.27130195e-03 -2.30890475e+01] [-8.37960723e-02 -4.61343457e-03 9.96472245e-01 -1.47411888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.70629675700002 meters 0.07470315257815721 Centerline is valid? [True, True] Translation: X:123.08, Y:-23.09, Z:-14.74 [[ 9.92857076e-01 8.24958047e-02 8.61932069e-02 1.23077415e+02] [-8.26007471e-02 9.96579938e-01 -2.35433517e-03 -2.30881007e+01] [-8.60926436e-02 -4.78210496e-03 9.96275659e-01 -1.47444882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.73629675700002 meters 0.0738877918796471 Centerline is valid? [True, True] Translation: X:123.11, Y:-23.09, Z:-14.75 [[ 9.92742944e-01 8.32494855e-02 8.67811651e-02 1.23109747e+02] [-8.33570493e-02 9.96516879e-01 -2.38986145e-03 -2.30906264e+01] [-8.66778506e-02 -4.86130377e-03 9.96224532e-01 -1.47469824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76629675700002 meters 0.07409429772604259 Centerline is valid? [True, True] Translation: X:123.14, Y:-23.09, Z:-14.75 [[ 9.92607741e-01 8.46910687e-02 8.69327022e-02 1.23141698e+02] [-8.48026275e-02 9.96394841e-01 -2.41565514e-03 -2.30912350e+01] [-8.68238804e-02 -4.97432356e-03 9.96211258e-01 -1.47502536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79629675700002 meters 0.07421507925215806 Centerline is valid? [True, True] Translation: X:123.17, Y:-23.09, Z:-14.75 [[ 9.92601199e-01 8.49753185e-02 8.67297828e-02 1.23173868e+02] [-8.50856363e-02 9.96370677e-01 -2.43066443e-03 -2.30918168e+01] [-8.66215589e-02 -4.96677833e-03 9.96228908e-01 -1.47542226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82629675700002 meters 0.07300232716141418 Centerline is valid? [True, True] Translation: X:123.21, Y:-23.10, Z:-14.76 [[ 9.92590577e-01 8.56004455e-02 8.62352065e-02 1.23205262e+02] [-8.57094373e-02 9.96317176e-01 -2.44464376e-03 -2.30959575e+01] [-8.61268800e-02 -4.96464066e-03 9.96271807e-01 -1.47570034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85629675700002 meters 0.07745868436379388 Centerline is valid? [True, True] Translation: X:123.24, Y:-23.09, Z:-14.77 [[ 9.92582757e-01 8.53082550e-02 8.66139248e-02 1.23236417e+02] [-8.54163239e-02 9.96342300e-01 -2.46441479e-03 -2.30851155e+01] [-8.65073519e-02 -4.95210743e-03 9.96238904e-01 -1.47650950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.88629675700003 meters 0.07338051958934588 Centerline is valid? [True, True] Translation: X:123.27, Y:-23.10, Z:-14.76 [[ 9.92669621e-01 8.45528760e-02 8.63587607e-02 1.23268624e+02] [-8.46555733e-02 9.96407190e-01 -2.47893549e-03 -2.30957132e+01] [-8.62580912e-02 -4.84998644e-03 9.96261020e-01 -1.47648152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.91629675700003 meters 0.07276485604376697 Centerline is valid? [True, True] Translation: X:123.30, Y:-23.10, Z:-14.77 [[ 9.92834179e-01 8.42696259e-02 8.47285213e-02 1.23301533e+02] [-8.43657589e-02 9.96431838e-01 -2.45170449e-03 -2.30985096e+01] [-8.46328004e-02 -4.71404998e-03 9.96401057e-01 -1.47684368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.94629675700003 meters 0.07299224598202854 Centerline is valid? [True, True] Translation: X:123.33, Y:-23.10, Z:-14.77 [[ 9.92883232e-01 8.36192552e-02 8.47980390e-02 1.23332157e+02] [-8.37107901e-02 9.96487001e-01 -2.48190823e-03 -2.30980307e+01] [-8.47076789e-02 -4.63426578e-03 9.96395069e-01 -1.47728195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.97629675700003 meters 0.07310735963403579 Centerline is valid? [True, True] Translation: X:123.36, Y:-23.10, Z:-14.78 [[ 9.92941510e-01 8.34310737e-02 8.42995436e-02 1.23364291e+02] [-8.35200729e-02 9.96503018e-01 -2.47651879e-03 -2.30976979e+01] [-8.42113682e-02 -4.58166572e-03 9.96437381e-01 -1.47770261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.00629675700003 meters 0.07285757926772643 Centerline is valid? [True, True] Translation: X:123.40, Y:-23.10, Z:-14.78 [[ 9.93029958e-01 8.19058207e-02 8.47522232e-02 1.23395395e+02] [-8.19879969e-02 9.96630140e-01 -2.51642331e-03 -2.30968343e+01] [-8.46727298e-02 -4.44978128e-03 9.96398880e-01 -1.47821668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.03629675700003 meters 0.07227806314380943 Centerline is valid? [True, True] Translation: X:123.43, Y:-23.10, Z:-14.79 [[ 9.93056221e-01 8.01844715e-02 8.60801469e-02 1.23426601e+02] [-8.02625640e-02 9.96770471e-01 -2.55895134e-03 -2.30988437e+01] [-8.60073368e-02 -4.36783076e-03 9.96284929e-01 -1.47852110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.06629675700003 meters 0.07273879172842863 Centerline is valid? [True, True] Translation: X:123.46, Y:-23.10, Z:-14.79 [[ 9.93041106e-01 7.98911753e-02 8.65260784e-02 1.23457279e+02] [-7.99689355e-02 9.96794036e-01 -2.57271480e-03 -2.30980299e+01] [-8.64542161e-02 -4.36458683e-03 9.96246264e-01 -1.47884745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.09629675700003 meters 0.07200226576038324 Centerline is valid? [True, True] Translation: X:123.49, Y:-23.10, Z:-14.79 [[ 9.93066281e-01 7.90729610e-02 8.69875220e-02 1.23488804e+02] [-7.91475646e-02 9.96859530e-01 -2.59643059e-03 -2.31009982e+01] [-8.69196477e-02 -4.30642285e-03 9.96206018e-01 -1.47909453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.12629675700003 meters 0.0720221240769184 Centerline is valid? [True, True] Translation: X:123.52, Y:-23.10, Z:-14.79 [[ 9.93077213e-01 7.75318253e-02 8.82409442e-02 1.23518642e+02] [-7.76001541e-02 9.96981010e-01 -2.66104060e-03 -2.31020483e+01] [-8.81808610e-02 -4.20489209e-03 9.96095605e-01 -1.47946428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.15629675700004 meters 0.07046167546057061 Centerline is valid? [True, True] Translation: X:123.55, Y:-23.11, Z:-14.80 [[ 9.93187333e-01 7.62293363e-02 8.81363122e-02 1.23550337e+02] [-7.62927301e-02 9.97081930e-01 -2.65407719e-03 -2.31076708e+01] [-8.80814429e-02 -4.08816403e-03 9.96104887e-01 -1.47958103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.186296757 meters 0.07045733648851098 Centerline is valid? [True, True] Translation: X:123.58, Y:-23.11, Z:-14.80 [[ 9.93155575e-01 7.55894515e-02 8.90406553e-02 1.23582447e+02] [-7.56495831e-02 9.97130798e-01 -2.70398847e-03 -2.31084089e+01] [-8.89895727e-02 -4.05040723e-03 9.96024322e-01 -1.47998347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.216296757 meters 0.07096188065460277 Centerline is valid? [True, True] Translation: X:123.61, Y:-23.11, Z:-14.80 [[ 9.93268026e-01 7.53307130e-02 8.79994997e-02 1.23613511e+02] [-7.53865588e-02 9.97150747e-01 -2.69340545e-03 -2.31092049e+01] [-8.79516630e-02 -3.95870594e-03 9.96116877e-01 -1.48047553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.246296757 meters 0.07136659014942892 Centerline is valid? [True, True] Translation: X:123.64, Y:-23.11, Z:-14.81 [[ 9.93318582e-01 7.53778394e-02 8.73863612e-02 1.23644962e+02] [-7.54310692e-02 9.97147370e-01 -2.69757949e-03 -2.31091110e+01] [-8.73404180e-02 -3.91209082e-03 9.96170842e-01 -1.48094445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.276296757 meters 0.07067328152146002 Centerline is valid? [True, True] Translation: X:123.68, Y:-23.11, Z:-14.81 [[ 9.93351174e-01 7.57409632e-02 8.66992004e-02 1.23676724e+02] [-7.57927625e-02 9.97119939e-01 -2.69892887e-03 -2.31146880e+01] [-8.66539209e-02 -3.89018775e-03 9.96230879e-01 -1.48111593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.306296757 meters 0.07068805802414457 Centerline is valid? [True, True] Translation: X:123.71, Y:-23.12, Z:-14.81 [[ 9.93429331e-01 7.52889608e-02 8.61959226e-02 1.23709105e+02] [-7.53362884e-02 9.97154506e-01 -2.70834049e-03 -2.31164812e+01] [-8.61545608e-02 -3.80313600e-03 9.96274524e-01 -1.48149878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.336296757 meters 0.07144737606403367 Centerline is valid? [True, True] Translation: X:123.74, Y:-23.12, Z:-14.82 [[ 9.93383632e-01 7.48191800e-02 8.71266318e-02 1.23740158e+02] [-7.48651784e-02 9.97189889e-01 -2.74413256e-03 -2.31152219e+01] [-8.70871101e-02 -3.79677447e-03 9.96193465e-01 -1.48202124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.36629675700001 meters 0.07144326525737375 Centerline is valid? [True, True] Translation: X:123.77, Y:-23.12, Z:-14.82 [[ 9.93713312e-01 7.30121105e-02 8.48709907e-02 1.23771086e+02] [-7.30483601e-02 9.97324792e-01 -2.68242584e-03 -2.31181923e+01] [-8.48397928e-02 -3.53412442e-03 9.96388338e-01 -1.48242158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.39629675700002 meters 0.07071516003683773 Centerline is valid? [True, True] Translation: X:123.80, Y:-23.12, Z:-14.83 [[ 9.93770367e-01 7.24369132e-02 8.46956392e-02 1.23803183e+02] [-7.24693994e-02 9.97366996e-01 -2.69488408e-03 -2.31233887e+01] [-8.46678443e-02 -3.45974616e-03 9.96403225e-01 -1.48266062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.42629675700002 meters 0.07046735195272755 Centerline is valid? [True, True] Translation: X:123.83, Y:-23.13, Z:-14.83 [[ 9.93907898e-01 7.15307202e-02 8.38477589e-02 1.23834942e+02] [-7.15576285e-02 9.97432845e-01 -2.68817661e-03 -2.31254176e+01] [-8.38247959e-02 -3.32814682e-03 9.96474951e-01 -1.48297710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.45629675700002 meters 0.06977083382197981 Centerline is valid? [True, True] Translation: X:123.87, Y:-23.13, Z:-14.83 [[ 9.93896818e-01 7.13961276e-02 8.40934441e-02 1.23867065e+02] [-7.14209930e-02 9.97442561e-01 -2.71648624e-03 -2.31285950e+01] [-8.40723268e-02 -3.30613025e-03 9.96454170e-01 -1.48314699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.48629675700002 meters 0.07033950439662792 Centerline is valid? [True, True] Translation: X:123.90, Y:-23.13, Z:-14.84 [[ 9.93862360e-01 7.14153324e-02 8.44834896e-02 1.23898075e+02] [-7.14386410e-02 9.97441202e-01 -2.75105468e-03 -2.31266503e+01] [-8.44637809e-02 -3.30121599e-03 9.96421082e-01 -1.48367784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51629675700002 meters 0.07039153869803473 Centerline is valid? [True, True] Translation: X:123.93, Y:-23.12, Z:-14.84 [[ 9.93762023e-01 7.14070462e-02 8.56625648e-02 1.23929354e+02] [-7.14292370e-02 9.97441712e-01 -2.80990119e-03 -2.31238712e+01] [-8.56440620e-02 -3.32643855e-03 9.96320244e-01 -1.48401015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54629675700002 meters 0.07009534830099592 Centerline is valid? [True, True] Translation: X:123.96, Y:-23.13, Z:-14.84 [[ 9.93632002e-01 7.21760727e-02 8.65220183e-02 1.23962151e+02] [-7.22000420e-02 9.97386081e-01 -2.85635986e-03 -2.31251314e+01] [-8.65020176e-02 -3.40872279e-03 9.96245844e-01 -1.48420065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57629675700002 meters 0.06992459743692687 Centerline is valid? [True, True] Translation: X:123.99, Y:-23.12, Z:-14.84 [[ 9.93535601e-01 7.34214156e-02 8.65812018e-02 1.23994435e+02] [-7.34479523e-02 9.97294883e-01 -2.88338160e-03 -2.31233192e+01] [-8.65586915e-02 -3.49446970e-03 9.96240624e-01 -1.48442229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60629675700002 meters 0.07003796011373818 Centerline is valid? [True, True] Translation: X:124.03, Y:-23.12, Z:-14.85 [[ 9.93468757e-01 7.37897088e-02 8.70339434e-02 1.24027045e+02] [-7.38161410e-02 9.97267595e-01 -2.91904076e-03 -2.31222024e+01] [-8.70115266e-02 -3.52453404e-03 9.96201070e-01 -1.48475147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.63629675700003 meters 0.07003832033687996 Centerline is valid? [True, True] Translation: X:124.06, Y:-23.12, Z:-14.85 [[ 9.93447163e-01 7.42933683e-02 8.68517714e-02 1.24058528e+02] [-7.43194450e-02 9.97230159e-01 -2.93771477e-03 -2.31215555e+01] [-8.68294585e-02 -3.53631104e-03 9.96216914e-01 -1.48510001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.66629675700003 meters 0.069871679984666 Centerline is valid? [True, True] Translation: X:124.09, Y:-23.12, Z:-14.85 [[ 9.93623928e-01 7.40485084e-02 8.50194606e-02 1.24090476e+02] [-7.40708806e-02 9.97248775e-01 -2.89563117e-03 -2.31197552e+01] [-8.49999702e-02 -3.42029790e-03 9.96375083e-01 -1.48549258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.69629675700003 meters 0.07016315476167446 Centerline is valid? [True, True] Translation: X:124.12, Y:-23.12, Z:-14.86 [[ 9.93622851e-01 7.39228744e-02 8.51412816e-02 1.24121700e+02] [-7.39430425e-02 9.97258188e-01 -2.92096930e-03 -2.31177608e+01] [-8.51237667e-02 -3.39326356e-03 9.96364607e-01 -1.48597991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.72629675700003 meters 0.06961680196619935 Centerline is valid? [True, True] Translation: X:124.15, Y:-23.12, Z:-14.86 [[ 9.93780461e-01 7.24804901e-02 8.45397713e-02 1.24153728e+02] [-7.24936223e-02 9.97364606e-01 -2.91850751e-03 -2.31176979e+01] [-8.45285105e-02 -3.22823851e-03 9.96415832e-01 -1.48626391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.75629675700003 meters 0.06986691604576258 Centerline is valid? [True, True] Translation: X:124.19, Y:-23.12, Z:-14.87 [[ 9.93824399e-01 7.18763637e-02 8.45390523e-02 1.24185007e+02] [-7.18855294e-02 9.97408557e-01 -2.93955347e-03 -2.31174215e+01] [-8.45312585e-02 -3.15573456e-03 9.96415831e-01 -1.48661075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.78629675700003 meters 0.06897875097187793 Centerline is valid? [True, True] Translation: X:124.22, Y:-23.12, Z:-14.87 [[ 9.93860861e-01 7.14679776e-02 8.44565990e-02 1.24217176e+02] [-7.14741019e-02 9.97438079e-01 -2.95500727e-03 -2.31205567e+01] [-8.44514163e-02 -3.09959349e-03 9.96422777e-01 -1.48668581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.81629675700003 meters 0.06896508753020295 Centerline is valid? [True, True] Translation: X:124.25, Y:-23.12, Z:-14.87 [[ 9.93946177e-01 6.92414590e-02 8.53030925e-02 1.24247320e+02] [-6.92372244e-02 9.97595678e-01 -3.01168181e-03 -2.31181898e+01] [-8.53065296e-02 -2.91269973e-03 9.96350497e-01 -1.48710598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.84629675700003 meters 0.06814575441474544 Centerline is valid? [True, True] Translation: X:124.28, Y:-23.12, Z:-14.87 [[ 9.94024675e-01 6.87069933e-02 8.48191914e-02 1.24279596e+02] [-6.87012546e-02 9.97632797e-01 -2.98997984e-03 -2.31205183e+01] [-8.48238396e-02 -2.85507113e-03 9.96391873e-01 -1.48731203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.87629675700003 meters 0.06817210325178973 Centerline is valid? [True, True] Translation: X:124.31, Y:-23.12, Z:-14.88 [[ 9.94135383e-01 6.78607257e-02 8.42007209e-02 1.24309927e+02] [-6.78502306e-02 9.97691039e-01 -2.98955709e-03 -2.31184649e+01] [-8.42091782e-02 -2.74101385e-03 9.96444329e-01 -1.48789452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.90629675700004 meters 0.06848186058369106 Centerline is valid? [True, True] Translation: X:124.34, Y:-23.12, Z:-14.88 [[ 9.94077868e-01 6.74609849e-02 8.51951133e-02 1.24341176e+02] [-6.74470942e-02 9.97718207e-01 -3.04464873e-03 -2.31173768e+01] [-8.52061106e-02 -2.71954492e-03 9.96359635e-01 -1.48846246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.936296757 meters 0.06761464974583746 Centerline is valid? [True, True] Translation: X:124.37, Y:-23.12, Z:-14.89 [[ 9.94099673e-01 6.76529471e-02 8.47874968e-02 1.24374289e+02] [-6.76382565e-02 9.97705251e-01 -3.04917548e-03 -2.31215394e+01] [-8.47992165e-02 -2.70369411e-03 9.96394391e-01 -1.48850519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.966296757 meters 0.06732472456282042 Centerline is valid? [True, True] Translation: X:124.41, Y:-23.12, Z:-14.89 [[ 9.94007033e-01 6.76674602e-02 8.58553000e-02 1.24406068e+02] [-6.76502721e-02 9.97704240e-01 -3.11297763e-03 -2.31221331e+01] [-8.58688441e-02 -2.71381276e-03 9.96302754e-01 -1.48882785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.996296757 meters 0.0677785083351753 Centerline is valid? [True, True] Translation: X:124.44, Y:-23.12, Z:-14.89 [[ 9.93966236e-01 6.76379394e-02 8.63494710e-02 1.24437085e+02] [-6.76183478e-02 9.97706272e-01 -3.15510620e-03 -2.31194223e+01] [-8.63648136e-02 -2.70273952e-03 9.96259913e-01 -1.48942078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.026296757 meters 0.06719584784667823 Centerline is valid? [True, True] Translation: X:124.47, Y:-23.12, Z:-14.90 [[ 9.93729311e-01 6.84726445e-02 8.83943027e-02 1.24469223e+02] [-6.84544988e-02 9.97648977e-01 -3.24027514e-03 -2.31194554e+01] [-8.84083559e-02 -2.83103130e-03 9.96080292e-01 -1.48967199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.056296757 meters 0.06753886149830352 Centerline is valid? [True, True] Translation: X:124.50, Y:-23.12, Z:-14.90 [[ 9.93718423e-01 6.96181554e-02 8.76185335e-02 1.24501386e+02] [-6.96029049e-02 9.97569538e-01 -3.23290327e-03 -2.31182700e+01] [-8.76306488e-02 -2.88590892e-03 9.96148855e-01 -1.49003205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.086296757 meters 0.0673323426838113 Centerline is valid? [True, True] Translation: X:124.53, Y:-23.12, Z:-14.90 [[ 9.93603282e-01 7.06165577e-02 8.81238886e-02 1.24533551e+02] [-7.06031631e-02 9.97499114e-01 -3.27288299e-03 -2.31189986e+01] [-8.81346205e-02 -2.96987799e-03 9.96104145e-01 -1.49029888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.11629675700001 meters 0.0676308639506378 Centerline is valid? [True, True] Translation: X:124.57, Y:-23.12, Z:-14.91 [[ 9.93523729e-01 7.18812807e-02 8.79981924e-02 1.24565139e+02] [-7.18709148e-02 9.97408515e-01 -3.29031997e-03 -2.31175276e+01] [-8.80066588e-02 -3.05549961e-03 9.96115200e-01 -1.49058548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.14629675700002 meters 0.06754872018242304 Centerline is valid? [True, True] Translation: X:124.60, Y:-23.12, Z:-14.91 [[ 9.93487302e-01 7.25050358e-02 8.78976729e-02 1.24596816e+02] [-7.24953941e-02 9.97363267e-01 -3.30618395e-03 -2.31175700e+01] [-8.79056252e-02 -3.08752466e-03 9.96124023e-01 -1.49097967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.17629675700002 meters 0.06712494835308842 Centerline is valid? [True, True] Translation: X:124.63, Y:-23.12, Z:-14.91 [[ 9.93436517e-01 7.27860076e-02 8.82387863e-02 1.24629808e+02] [-7.27755669e-02 9.97342751e-01 -3.33970302e-03 -2.31195709e+01] [-8.82473976e-02 -3.10384476e-03 9.96093752e-01 -1.49122235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.20629675700002 meters 0.06739025186869768 Centerline is valid? [True, True] Translation: X:124.66, Y:-23.12, Z:-14.92 [[ 9.93622265e-01 7.15507272e-02 8.71509535e-02 1.24660439e+02] [-7.15335243e-02 9.97432656e-01 -3.32445540e-03 -2.31174758e+01] [-8.71650742e-02 -2.93096194e-03 9.96189570e-01 -1.49177902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.23629675700002 meters 0.06739025186869768 Centerline is valid? [True, True] Translation: X:124.69, Y:-23.12, Z:-14.92 [[ 9.93602302e-01 7.18283004e-02 8.71502237e-02 1.24692634e+02] [-7.18104964e-02 9.97412690e-01 -3.34346503e-03 -2.31187902e+01] [-8.71648944e-02 -2.93622627e-03 9.96189570e-01 -1.49214062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26629675700002 meters 0.06724468990079704 Centerline is valid? [True, True] Translation: X:124.73, Y:-23.12, Z:-14.93 [[ 9.93705990e-01 7.14491604e-02 8.62752762e-02 1.24725507e+02] [-7.14282258e-02 9.97440171e-01 -3.33359707e-03 -2.31206631e+01] [-8.62926090e-02 -2.84987454e-03 9.96265760e-01 -1.49260902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29629675700002 meters 0.06706696341971295 Centerline is valid? [True, True] Translation: X:124.76, Y:-23.12, Z:-14.93 [[ 9.93897223e-01 6.91659440e-02 8.59324303e-02 1.24756075e+02] [-6.91344581e-02 9.97601740e-01 -3.34588641e-03 -2.31221432e+01] [-8.59577634e-02 -2.61542480e-03 9.96295349e-01 -1.49307068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32629675700002 meters 0.06674627666371466 Centerline is valid? [True, True] Translation: X:124.79, Y:-23.13, Z:-14.93 [[ 9.93952143e-01 6.84000240e-02 8.59102623e-02 1.24787913e+02] [-6.83640512e-02 9.97654769e-01 -3.36414875e-03 -2.31255776e+01] [-8.59388908e-02 -2.52937071e-03 9.96297199e-01 -1.49325341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35629675700002 meters 0.06714019044147859 Centerline is valid? [True, True] Translation: X:124.82, Y:-23.13, Z:-14.94 [[ 9.93963608e-01 6.79435457e-02 8.61395421e-02 1.24819080e+02] [-6.79038038e-02 9.97686098e-01 -3.39473859e-03 -2.31253133e+01] [-8.61708742e-02 -2.47495594e-03 9.96277298e-01 -1.49377713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.38629675700003 meters 0.06685804916585128 Centerline is valid? [True, True] Translation: X:124.85, Y:-23.13, Z:-14.94 [[ 9.94058686e-01 6.61661226e-02 8.64255352e-02 1.24851238e+02] [-6.61175446e-02 9.97805954e-01 -3.42759297e-03 -2.31273595e+01] [-8.64627042e-02 -2.30701562e-03 9.96252417e-01 -1.49407401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.41629675700003 meters 0.06675669389231559 Centerline is valid? [True, True] Translation: X:124.88, Y:-23.13, Z:-14.94 [[ 9.94039326e-01 6.62033754e-02 8.66194686e-02 1.24882793e+02] [-6.61529048e-02 9.97803512e-01 -3.45616891e-03 -2.31291224e+01] [-8.66580200e-02 -2.29456165e-03 9.96235475e-01 -1.49435783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.44629675700003 meters 0.06689214692862418 Centerline is valid? [True, True] Translation: X:124.91, Y:-23.13, Z:-14.95 [[ 9.94032002e-01 6.58238878e-02 8.69919197e-02 1.24913578e+02] [-6.57696302e-02 9.97828721e-01 -3.49283691e-03 -2.31296628e+01] [-8.70329480e-02 -2.24943472e-03 9.96202894e-01 -1.49477370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.47629675700003 meters 0.0666239167068452 Centerline is valid? [True, True] Translation: X:124.95, Y:-23.13, Z:-14.95 [[ 9.94037376e-01 6.56418575e-02 8.70680302e-02 1.24945504e+02] [-6.55851388e-02 9.97840786e-01 -3.51499177e-03 -2.31327218e+01] [-8.71107623e-02 -2.21633565e-03 9.96196167e-01 -1.49497414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.50629675700003 meters 0.06691367991468905 Centerline is valid? [True, True] Translation: X:124.98, Y:-23.13, Z:-14.95 [[ 9.94061580e-01 6.52666482e-02 8.70737656e-02 1.24976695e+02] [-6.52065643e-02 9.97865518e-01 -3.53720062e-03 -2.31332597e+01] [-8.71187695e-02 -2.16158586e-03 9.96195587e-01 -1.49540145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.53629675700003 meters 0.06682880227571934 Centerline is valid? [True, True] Translation: X:125.01, Y:-23.13, Z:-14.96 [[ 9.94024118e-01 6.49738635e-02 8.77180112e-02 1.25007804e+02] [-6.49099577e-02 9.97884690e-01 -3.58375863e-03 -2.31347269e+01] [-8.77653110e-02 -2.13142989e-03 9.96138900e-01 -1.49579083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.56629675700003 meters 0.06684453572621413 Centerline is valid? [True, True] Translation: X:125.04, Y:-23.14, Z:-14.96 [[ 9.94121294e-01 6.45584148e-02 8.69198690e-02 1.25040327e+02] [-6.44925381e-02 9.97911808e-01 -3.56879249e-03 -2.31361668e+01] [-8.69687592e-02 -2.05787036e-03 9.96208914e-01 -1.49618060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.59629675700003 meters 0.06703073456631707 Centerline is valid? [True, True] Translation: X:125.07, Y:-23.14, Z:-14.97 [[ 9.94284599e-01 6.51508528e-02 8.45783865e-02 1.25072180e+02] [-6.50882950e-02 9.97873371e-01 -3.49985235e-03 -2.31385534e+01] [-8.46265380e-02 -2.02521368e-03 9.96410682e-01 -1.49657461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.62629675700003 meters 0.06694084888810338 Centerline is valid? [True, True] Translation: X:125.10, Y:-23.14, Z:-14.97 [[ 9.94266826e-01 6.50451572e-02 8.48681695e-02 1.25104493e+02] [-6.49816769e-02 9.97880273e-01 -3.51313753e-03 -2.31413568e+01] [-8.49167848e-02 -2.02187987e-03 9.96385995e-01 -1.49685809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.65629675700004 meters 0.06727185932707334 Centerline is valid? [True, True] Translation: X:125.14, Y:-23.14, Z:-14.97 [[ 9.94278559e-01 6.55413527e-02 8.43473677e-02 1.25135310e+02] [-6.54786840e-02 9.97847787e-01 -3.51216784e-03 -2.31418695e+01] [-8.43960265e-02 -2.03088146e-03 9.96430221e-01 -1.49736861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.686296757 meters 0.06717362214176144 Centerline is valid? [True, True] Translation: X:125.17, Y:-23.14, Z:-14.98 [[ 9.94267594e-01 6.63807528e-02 8.38185381e-02 1.25167276e+02] [-6.63199883e-02 9.97792225e-01 -3.51215678e-03 -2.31447230e+01] [-8.38666252e-02 -2.06682079e-03 9.96474845e-01 -1.49759246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.716296757 meters 0.06755067652456229 Centerline is valid? [True, True] Translation: X:125.20, Y:-23.14, Z:-14.98 [[ 9.94258723e-01 6.89524720e-02 8.18238889e-02 1.25198870e+02] [-6.89030109e-02 9.97617462e-01 -3.43140031e-03 -2.31441741e+01] [-8.18655439e-02 -2.22621261e-03 9.96640897e-01 -1.49799853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.746296757 meters 0.06850752129895088 Centerline is valid? [True, True] Translation: X:125.23, Y:-23.14, Z:-14.99 [[ 9.94062558e-01 7.19144664e-02 8.16574533e-02 1.25229915e+02] [-7.18736503e-02 9.97407802e-01 -3.44298164e-03 -2.31414847e+01] [-8.16933812e-02 -2.44648011e-03 9.96654507e-01 -1.49858747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.776296757 meters 0.06793541368360453 Centerline is valid? [True, True] Translation: X:125.26, Y:-23.15, Z:-14.99 [[ 9.94066961e-01 7.34655608e-02 8.02102761e-02 1.25261867e+02] [-7.34294170e-02 9.97294607e-01 -3.40417906e-03 -2.31460623e+01] [-8.02433657e-02 -2.50581189e-03 9.96772152e-01 -1.49854777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.806296757 meters 0.06806708020423007 Centerline is valid? [True, True] Translation: X:125.29, Y:-23.15, Z:-14.99 [[ 9.93913133e-01 7.52048804e-02 8.05041018e-02 1.25293584e+02] [-7.51741384e-02 9.97164567e-01 -3.41695040e-03 -2.31471891e+01] [-8.05328091e-02 -2.65567461e-03 9.96748421e-01 -1.49882660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.836296757 meters 0.06828301814357705 Centerline is valid? [True, True] Translation: X:125.33, Y:-23.15, Z:-14.99 [[ 9.93730523e-01 7.79001860e-02 8.01948171e-02 1.25325045e+02] [-7.78765100e-02 9.96957121e-01 -3.42765538e-03 -2.31456815e+01] [-8.02178090e-02 -2.83912671e-03 9.96773315e-01 -1.49913867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.86629675700001 meters 0.06857585520278163 Centerline is valid? [True, True] Translation: X:125.36, Y:-23.14, Z:-14.99 [[ 9.93584217e-01 7.94420961e-02 8.04944582e-02 1.25357075e+02] [-7.94228262e-02 9.96835061e-01 -3.44620259e-03 -2.31448865e+01] [-8.05134717e-02 -2.96900486e-03 9.96749099e-01 -1.49947172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.89629675700002 meters 0.0686402605365501 Centerline is valid? [True, True] Translation: X:125.39, Y:-23.14, Z:-15.00 [[ 9.93385190e-01 8.19324471e-02 8.04545711e-02 1.25389420e+02] [-8.19192893e-02 9.96632926e-01 -3.46985602e-03 -2.31434254e+01] [-8.04679684e-02 -3.14387770e-03 9.96752237e-01 -1.49964596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.92629675700002 meters 0.06886846429959008 Centerline is valid? [True, True] Translation: X:125.42, Y:-23.14, Z:-15.00 [[ 9.93233897e-01 8.35838395e-02 8.06236231e-02 1.25421326e+02] [-8.35760162e-02 9.96495337e-01 -3.47756669e-03 -2.31427913e+01] [-8.06317328e-02 -3.28416412e-03 9.96738550e-01 -1.49991398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.95629675700002 meters 0.06970374992141132 Centerline is valid? [True, True] Translation: X:125.45, Y:-23.14, Z:-15.00 [[ 9.93187134e-01 8.41556199e-02 8.06048858e-02 1.25452308e+02] [-8.41480076e-02 9.96447129e-01 -3.49739707e-03 -2.31394637e+01] [-8.06128327e-02 -3.30917077e-03 9.96739996e-01 -1.50044527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.98629675700002 meters 0.069235054600146 Centerline is valid? [True, True] Translation: X:125.48, Y:-23.14, Z:-15.01 [[ 9.93143644e-01 8.52123996e-02 8.00284245e-02 1.25484008e+02] [-8.52068897e-02 9.96357168e-01 -3.49006206e-03 -2.31406285e+01] [-8.00342909e-02 -3.35284018e-03 9.96786472e-01 -1.50059884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01629675700002 meters 0.0690900564134668 Centerline is valid? [True, True] Translation: X:125.52, Y:-23.14, Z:-15.01 [[ 9.93155149e-01 8.52339471e-02 7.98625379e-02 1.25516925e+02] [-8.52270577e-02 9.96355404e-01 -3.50117356e-03 -2.31416476e+01] [-7.98698900e-02 -3.32924058e-03 9.96799738e-01 -1.50094174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04629675700002 meters 0.06899937256685285 Centerline is valid? [True, True] Translation: X:125.55, Y:-23.14, Z:-15.01 [[ 9.93201105e-01 8.62103699e-02 7.82261875e-02 1.25548594e+02] [-8.62049313e-02 9.96271443e-01 -3.45276346e-03 -2.31411651e+01] [-7.82321807e-02 -3.31419463e-03 9.96929658e-01 -1.50121732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07629675700002 meters 0.0698021798229871 Centerline is valid? [True, True] Translation: X:125.58, Y:-23.14, Z:-15.02 [[ 9.93200148e-01 8.61292439e-02 7.83276416e-02 1.25579115e+02] [-8.61220862e-02 9.96278528e-01 -3.47575425e-03 -2.31372036e+01] [-7.83355115e-02 -3.29362027e-03 9.96921612e-01 -1.50190500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10629675700002 meters 0.06980939928328737 Centerline is valid? [True, True] Translation: X:125.61, Y:-23.14, Z:-15.02 [[ 9.93170698e-01 8.63025942e-02 7.85100461e-02 1.25611244e+02] [-8.62945336e-02 9.96263515e-01 -3.50176455e-03 -2.31375073e+01] [-7.85189059e-02 -3.29713787e-03 9.96907172e-01 -1.50228697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.13629675700003 meters 0.0689055954605401 Centerline is valid? [True, True] Translation: X:125.64, Y:-23.14, Z:-15.02 [[ 9.93262615e-01 8.55001917e-02 7.82246489e-02 1.25643416e+02] [-8.54882671e-02 9.96333004e-01 -3.50737473e-03 -2.31417239e+01] [-7.82376806e-02 -3.20354548e-03 9.96929588e-01 -1.50230008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.16629675700003 meters 0.06888634311640092 Centerline is valid? [True, True] Translation: X:125.68, Y:-23.14, Z:-15.03 [[ 9.93374227e-01 8.51125977e-02 7.72236397e-02 1.25676061e+02] [-8.50984220e-02 9.96366472e-01 -3.48027444e-03 -2.31424501e+01] [-7.72392606e-02 -3.11439495e-03 9.97007722e-01 -1.50271399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.19629675700003 meters 0.06850792495086634 Centerline is valid? [True, True] Translation: X:125.71, Y:-23.14, Z:-15.03 [[ 9.93543209e-01 8.40391512e-02 7.62188441e-02 1.25707575e+02] [-8.40204566e-02 9.96458031e-01 -3.45758426e-03 -2.31426770e+01] [-7.62394518e-02 -2.96868272e-03 9.97085118e-01 -1.50302681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.22629675700003 meters 0.06873501175892438 Centerline is valid? [True, True] Translation: X:125.74, Y:-23.14, Z:-15.04 [[ 9.93521940e-01 8.35122972e-02 7.70704268e-02 1.25738490e+02] [-8.34900268e-02 9.96502408e-01 -3.51667675e-03 -2.31417005e+01] [-7.70945516e-02 -2.94071649e-03 9.97019449e-01 -1.50355822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.25629675700003 meters 0.06852122260273999 Centerline is valid? [True, True] Translation: X:125.77, Y:-23.14, Z:-15.04 [[ 9.93565595e-01 8.32163359e-02 7.68274058e-02 1.25770702e+02] [-8.31919882e-02 9.96527311e-01 -3.52288717e-03 -2.31422749e+01] [-7.68537699e-02 -2.89120515e-03 9.97038183e-01 -1.50392297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.28629675700003 meters 0.06792867012821016 Centerline is valid? [True, True] Translation: X:125.80, Y:-23.15, Z:-15.04 [[ 9.93528604e-01 8.16744161e-02 7.89316384e-02 1.25802331e+02] [-8.16417882e-02 9.96655069e-01 -3.64580010e-03 -2.31455071e+01] [-7.89653861e-02 -2.82191342e-03 9.96873364e-01 -1.50407262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.31629675700003 meters 0.06796023435985674 Centerline is valid? [True, True] Translation: X:125.83, Y:-23.15, Z:-15.04 [[ 9.93662819e-01 8.08094324e-02 7.81283410e-02 1.25833106e+02] [-8.07749208e-02 9.96725841e-01 -3.60706381e-03 -2.31465007e+01] [-7.81640211e-02 -2.72660536e-03 9.96936784e-01 -1.50445626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.34629675700003 meters 0.06779606279986529 Centerline is valid? [True, True] Translation: X:125.87, Y:-23.15, Z:-15.05 [[ 9.93703331e-01 7.95968342e-02 7.88545102e-02 1.25865179e+02] [-7.95564551e-02 9.96823648e-01 -3.65853798e-03 -2.31485172e+01] [-7.88952486e-02 -2.63788391e-03 9.96879422e-01 -1.50482035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.37629675700003 meters 0.06735739710302792 Centerline is valid? [True, True] Translation: X:125.90, Y:-23.15, Z:-15.05 [[ 9.93753727e-01 7.95856444e-02 7.82282257e-02 1.25898073e+02] [-7.95444964e-02 9.96824645e-01 -3.64691872e-03 -2.31511493e+01] [-7.82700657e-02 -2.59848575e-03 9.96928806e-01 -1.50509785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.40629675700004 meters 0.06749910141231016 Centerline is valid? [True, True] Translation: X:125.93, Y:-23.15, Z:-15.06 [[ 9.93710642e-01 8.01847698e-02 7.81636941e-02 1.25929598e+02] [-8.01437041e-02 9.96776574e-01 -3.66728436e-03 -2.31514708e+01] [-7.82057996e-02 -2.62010848e-03 9.96933793e-01 -1.50554501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.436296757 meters 0.06768830431010787 Centerline is valid? [True, True] Translation: X:125.96, Y:-23.15, Z:-15.06 [[ 9.93728556e-01 8.13665600e-02 7.67009724e-02 1.25960918e+02] [-8.13290491e-02 9.96680740e-01 -3.61774737e-03 -2.31505413e+01] [-7.67407456e-02 -2.64295828e-03 9.97047578e-01 -1.50610800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.466296757 meters 0.06740506843028839 Centerline is valid? [True, True] Translation: X:125.99, Y:-23.15, Z:-15.06 [[ 9.93696014e-01 8.23475649e-02 7.60730633e-02 1.25992524e+02] [-8.23122782e-02 9.96600068e-01 -3.60450915e-03 -2.31521079e+01] [-7.61112426e-02 -2.67996077e-03 9.97095731e-01 -1.50632677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.496296757 meters 0.06801805897242205 Centerline is valid? [True, True] Translation: X:126.02, Y:-23.15, Z:-15.07 [[ 9.93723590e-01 8.23379355e-02 7.57224593e-02 1.26023910e+02] [-8.23015504e-02 9.96600948e-01 -3.60622889e-03 -2.31524117e+01] [-7.57620042e-02 -2.64848108e-03 9.97122412e-01 -1.50684332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.526296757 meters 0.06734083814278254 Centerline is valid? [True, True] Translation: X:126.06, Y:-23.16, Z:-15.07 [[ 9.93683712e-01 8.22584290e-02 7.63297581e-02 1.26055834e+02] [-8.22195991e-02 9.96607530e-01 -3.65641495e-03 -2.31558663e+01] [-7.63715826e-02 -2.64248214e-03 9.97075924e-01 -1.50698196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.556296757 meters 0.06723848338424433 Centerline is valid? [True, True] Translation: X:126.09, Y:-23.16, Z:-15.07 [[ 9.93776669e-01 8.18867385e-02 7.55148555e-02 1.26088505e+02] [-8.18463623e-02 9.96638331e-01 -3.63447840e-03 -2.31580013e+01] [-7.55586152e-02 -2.56875638e-03 9.97138053e-01 -1.50732555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.586296757 meters 0.06745548114770916 Centerline is valid? [True, True] Translation: X:126.12, Y:-23.16, Z:-15.08 [[ 9.93704145e-01 8.19688276e-02 7.63752843e-02 1.26119804e+02] [-8.19259738e-02 9.96631552e-01 -3.69936579e-03 -2.31595564e+01] [-7.64212508e-02 -2.58104442e-03 9.97072280e-01 -1.50778199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.61629675700001 meters 0.0672804324554308 Centerline is valid? [True, True] Translation: X:126.15, Y:-23.16, Z:-15.08 [[ 9.93732444e-01 8.18420571e-02 7.61426783e-02 1.26152250e+02] [-8.17977577e-02 9.96642060e-01 -3.70555272e-03 -2.31623704e+01] [-7.61902658e-02 -2.54597239e-03 9.97090047e-01 -1.50800211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.64629675700002 meters 0.06709484861663527 Centerline is valid? [True, True] Translation: X:126.18, Y:-23.17, Z:-15.08 [[ 9.93743197e-01 8.01262347e-02 7.78090299e-02 1.26182613e+02] [-8.00723071e-02 9.96781747e-01 -3.81778043e-03 -2.31656976e+01] [-7.78645251e-02 -2.43645520e-03 9.96960972e-01 -1.50838050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.67629675700002 meters 0.06723283395045511 Centerline is valid? [True, True] Translation: X:126.21, Y:-23.17, Z:-15.09 [[ 9.93739096e-01 8.00393410e-02 7.79507108e-02 1.26213963e+02] [-7.99852722e-02 9.96788723e-01 -3.82062572e-03 -2.31680488e+01] [-7.80061898e-02 -2.43820367e-03 9.96949893e-01 -1.50873279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.70629675700002 meters 0.0674409508744682 Centerline is valid? [True, True] Translation: X:126.25, Y:-23.17, Z:-15.09 [[ 9.93810841e-01 7.95834391e-02 7.75015361e-02 1.26245176e+02] [-7.95271916e-02 9.96825390e-01 -3.81679603e-03 -2.31710127e+01] [-7.75592527e-02 -2.37030624e-03 9.96984927e-01 -1.50914957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.73629675700002 meters 0.06735852941955996 Centerline is valid? [True, True] Translation: X:126.28, Y:-23.17, Z:-15.09 [[ 9.93838135e-01 7.98625869e-02 7.68617551e-02 1.26277211e+02] [-7.98065272e-02 9.96803108e-01 -3.80559420e-03 -2.31741295e+01] [-7.69199609e-02 -2.35192511e-03 9.97034497e-01 -1.50944399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76629675700002 meters 0.06721459143066932 Centerline is valid? [True, True] Translation: X:126.31, Y:-23.18, Z:-15.10 [[ 9.93790556e-01 8.00822105e-02 7.72474589e-02 1.26309164e+02] [-8.00248043e-02 9.96785463e-01 -3.84334260e-03 -2.31777376e+01] [-7.73069275e-02 -2.36223520e-03 9.97004543e-01 -1.50973133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79629675700002 meters 0.06741432126775297 Centerline is valid? [True, True] Translation: X:126.34, Y:-23.18, Z:-15.10 [[ 9.93787833e-01 8.09377763e-02 7.63859891e-02 1.26341053e+02] [-8.08827374e-02 9.96716308e-01 -3.81904045e-03 -2.31792902e+01] [-7.64442656e-02 -2.38299196e-03 9.97071008e-01 -1.51019137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82629675700002 meters 0.06770732319503397 Centerline is valid? [True, True] Translation: X:126.37, Y:-23.18, Z:-15.11 [[ 9.93801889e-01 8.10294336e-02 7.61054335e-02 1.26372212e+02] [-8.09736757e-02 9.96708908e-01 -3.82320172e-03 -2.31809718e+01] [-7.61647554e-02 -2.36303160e-03 9.97092446e-01 -1.51064569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85629675700002 meters 0.06817515304241813 Centerline is valid? [True, True] Translation: X:126.40, Y:-23.18, Z:-15.11 [[ 9.93941416e-01 8.03115858e-02 7.50367280e-02 1.26403858e+02] [-8.02538621e-02 9.96767255e-01 -3.78909969e-03 -2.31837958e+01] [-7.50984620e-02 -2.25584411e-03 9.97173572e-01 -1.51115773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.88629675700003 meters 0.06823170968523687 Centerline is valid? [True, True] Translation: X:126.44, Y:-23.19, Z:-15.11 [[ 9.93965896e-01 8.00474492e-02 7.49946850e-02 1.26435580e+02] [-7.99875188e-02 9.96788595e-01 -3.80718509e-03 -2.31882542e+01] [-7.50586021e-02 -2.21442663e-03 9.97176666e-01 -1.51142273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.91629675700003 meters 0.06811039133634011 Centerline is valid? [True, True] Translation: X:126.47, Y:-23.19, Z:-15.12 [[ 9.94103586e-01 7.91909533e-02 7.40733007e-02 1.26467721e+02] [-7.91288748e-02 9.96857239e-01 -3.77702687e-03 -2.31923912e+01] [-7.41396123e-02 -2.10658098e-03 9.97245647e-01 -1.51178640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.94629675700003 meters 0.06830014136421943 Centerline is valid? [True, True] Translation: X:126.50, Y:-23.20, Z:-15.12 [[ 9.94264305e-01 7.76396837e-02 7.35565853e-02 1.26499331e+02] [-7.75726138e-02 9.96979567e-01 -3.77256914e-03 -2.31979128e+01] [-7.36273137e-02 -1.95504575e-03 9.97283910e-01 -1.51212014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.97629675700003 meters 0.06843336146119261 Centerline is valid? [True, True] Translation: X:126.53, Y:-23.20, Z:-15.13 [[ 9.94280608e-01 7.76673527e-02 7.33065748e-02 1.26531720e+02] [-7.75995897e-02 9.96977453e-01 -3.77636307e-03 -2.32007469e+01] [-7.33783024e-02 -1.93379556e-03 9.97302304e-01 -1.51259750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.00629675700003 meters 0.0688566375938696 Centerline is valid? [True, True] Translation: X:126.56, Y:-23.20, Z:-15.13 [[ 9.94384676e-01 7.79357280e-02 7.15900696e-02 1.26562546e+02] [-7.78702508e-02 9.96956601e-01 -3.70937398e-03 -2.32030852e+01] [-7.16612852e-02 -1.88619202e-03 9.97427242e-01 -1.51314496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.03629675700003 meters 0.06896137048614588 Centerline is valid? [True, True] Translation: X:126.59, Y:-23.21, Z:-15.13 [[ 9.94385727e-01 7.89822067e-02 7.04190061e-02 1.26594616e+02] [-7.89204271e-02 9.96874187e-01 -3.66345478e-03 -2.32056034e+01] [-7.04882372e-02 -1.91461089e-03 9.97510773e-01 -1.51346733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.06629675700003 meters 0.06972573510096337 Centerline is valid? [True, True] Translation: X:126.63, Y:-23.21, Z:-15.14 [[ 9.94223508e-01 8.14649867e-02 6.98789787e-02 1.26625241e+02] [-8.14085941e-02 9.96674095e-01 -3.65923780e-03 -2.32056687e+01] [-6.99446676e-02 -2.05064917e-03 9.97548765e-01 -1.51398728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.09629675700003 meters 0.06969988397301195 Centerline is valid? [True, True] Translation: X:126.66, Y:-23.21, Z:-15.14 [[ 9.94047140e-01 8.26362910e-02 7.10037166e-02 1.26657666e+02] [-8.25811889e-02 9.96577411e-01 -3.71623370e-03 -2.32085313e+01] [-7.10677958e-02 -2.16945985e-03 9.97469128e-01 -1.51416086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.12629675700003 meters 0.06969988397301195 Centerline is valid? [True, True] Translation: X:126.69, Y:-23.21, Z:-15.15 [[ 9.94024457e-01 8.29094174e-02 7.10028740e-02 1.26689854e+02] [-8.28538679e-02 9.96554718e-01 -3.73224430e-03 -2.32103087e+01] [-7.10676874e-02 -2.17292064e-03 9.97469128e-01 -1.51452269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.15629675700004 meters 0.070566987015747 Centerline is valid? [True, True] Translation: X:126.72, Y:-23.21, Z:-15.15 [[ 9.93707320e-01 8.56707255e-02 7.21546217e-02 1.26720579e+02] [-8.56190003e-02 9.96320647e-01 -3.81521472e-03 -2.32103016e+01] [-7.22159915e-02 -2.38659978e-03 9.97386161e-01 -1.51499441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.186296757 meters 0.06956239656167498 Centerline is valid? [True, True] Translation: X:126.75, Y:-23.22, Z:-15.15 [[ 9.93649405e-01 8.68738596e-02 7.15107879e-02 1.26753075e+02] [-8.68251177e-02 9.96216338e-01 -3.79567525e-03 -2.32165080e+01] [-7.15699602e-02 -2.43736211e-03 9.97432604e-01 -1.51486092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.216296757 meters 0.07046510869673367 Centerline is valid? [True, True] Translation: X:126.78, Y:-23.21, Z:-15.15 [[ 9.93444040e-01 8.89448878e-02 7.18174543e-02 1.26783976e+02] [-8.88997649e-02 9.96033211e-01 -3.83083171e-03 -2.32148832e+01] [-7.18733025e-02 -2.57883787e-03 9.97410436e-01 -1.51544711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.246296757 meters 0.07058530812845466 Centerline is valid? [True, True] Translation: X:126.82, Y:-23.22, Z:-15.16 [[ 9.93254233e-01 9.14428281e-02 7.13038484e-02 1.26815541e+02] [-9.14032763e-02 9.95806616e-01 -3.82422738e-03 -2.32159677e+01] [-7.13545421e-02 -2.71897532e-03 9.97447310e-01 -1.51581345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.276296757 meters 0.07140259392911896 Centerline is valid? [True, True] Translation: X:126.85, Y:-23.22, Z:-15.16 [[ 9.93171495e-01 9.29378081e-02 7.05191172e-02 1.26846536e+02] [-9.29026298e-02 9.95668002e-01 -3.78561234e-03 -2.32152820e+01] [-7.05654550e-02 -2.79164917e-03 9.97503245e-01 -1.51637807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.306296757 meters 0.07117410531853181 Centerline is valid? [True, True] Translation: X:126.88, Y:-23.22, Z:-15.17 [[ 9.92988524e-01 9.48264842e-02 7.05813668e-02 1.26878650e+02] [-9.47949094e-02 9.95489554e-01 -3.80436637e-03 -2.32181671e+01] [-7.06237680e-02 -2.91306212e-03 9.97498771e-01 -1.51659981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.336296757 meters 0.07120959021046773 Centerline is valid? [True, True] Translation: X:126.91, Y:-23.22, Z:-15.17 [[ 9.92861448e-01 9.51836575e-02 7.18763962e-02 1.26911012e+02] [-9.51502226e-02 9.95455298e-01 -3.89680566e-03 -2.32198958e+01] [-7.19206516e-02 -2.97006699e-03 9.97405935e-01 -1.51689708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.36629675700001 meters 0.07141687944540616 Centerline is valid? [True, True] Translation: X:126.94, Y:-23.22, Z:-15.17 [[ 9.92691299e-01 9.64542858e-02 7.25296899e-02 1.26942483e+02] [-9.64232286e-02 9.95332636e-01 -3.93767739e-03 -2.32212212e+01] [-7.25709732e-02 -3.08464878e-03 9.97358481e-01 -1.51719041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.39629675700002 meters 0.07108375087610506 Centerline is valid? [True, True] Translation: X:126.98, Y:-23.22, Z:-15.17 [[ 9.92613356e-01 9.70087770e-02 7.28561744e-02 1.26975469e+02] [-9.69777401e-02 9.95278626e-01 -3.97169072e-03 -2.32240976e+01] [-7.28974821e-02 -3.12307390e-03 9.97334549e-01 -1.51736255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.42629675700002 meters 0.07116976269453498 Centerline is valid? [True, True] Translation: X:127.01, Y:-23.22, Z:-15.18 [[ 9.92558833e-01 9.69562976e-02 7.36643715e-02 1.27007029e+02] [-9.69227593e-02 9.95283714e-01 -4.03835649e-03 -2.32247846e+01] [-7.37084933e-02 -3.13144774e-03 9.97274913e-01 -1.51776506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.45629675700002 meters 0.07150985343119674 Centerline is valid? [True, True] Translation: X:127.04, Y:-23.23, Z:-15.18 [[ 9.92625637e-01 9.65511366e-02 7.32954504e-02 1.27037411e+02] [-9.65154665e-02 9.95323299e-01 -4.03666788e-03 -2.32256133e+01] [-7.33424143e-02 -3.06724456e-03 9.97302102e-01 -1.51823514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.48629675700002 meters 0.07079774596895419 Centerline is valid? [True, True] Translation: X:127.07, Y:-23.23, Z:-15.18 [[ 9.92726349e-01 9.56297130e-02 7.31392838e-02 1.27069378e+02] [-9.55905476e-02 9.95412525e-01 -4.04377507e-03 -2.32308072e+01] [-7.31904642e-02 -2.97706213e-03 9.97313538e-01 -1.51842439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51629675700002 meters 0.07089335084085602 Centerline is valid? [True, True] Translation: X:127.10, Y:-23.23, Z:-15.19 [[ 9.92977828e-01 9.32952942e-02 7.27394066e-02 1.27100136e+02] [-9.32489449e-02 9.95634627e-01 -4.04032243e-03 -2.32341725e+01] [-7.27988150e-02 -2.77092233e-03 9.97342797e-01 -1.51894354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54629675700002 meters 0.07060170648624199 Centerline is valid? [True, True] Translation: X:127.13, Y:-23.24, Z:-15.19 [[ 9.93114767e-01 9.20458654e-02 7.24611512e-02 1.27131548e+02] [-9.19954098e-02 9.95751233e-01 -4.04056596e-03 -2.32376249e+01] [-7.25251981e-02 -2.65334758e-03 9.97363051e-01 -1.51929771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57629675700002 meters 0.07076577622830357 Centerline is valid? [True, True] Translation: X:127.16, Y:-23.24, Z:-15.20 [[ 9.93145147e-01 9.11078753e-02 7.32261717e-02 1.27162651e+02] [-9.10524693e-02 9.95837650e-01 -4.10146436e-03 -2.32392912e+01] [-7.32950544e-02 -2.59407432e-03 9.97306927e-01 -1.51982462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60629675700002 meters 0.07021667086453062 Centerline is valid? [True, True] Translation: X:127.19, Y:-23.24, Z:-15.20 [[ 9.93203153e-01 8.95276485e-02 7.43794111e-02 1.27194261e+02] [-8.94641774e-02 9.95981221e-01 -4.19139574e-03 -2.32418025e+01] [-7.44557425e-02 -2.49138537e-03 9.97221207e-01 -1.52009850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.63629675700003 meters 0.0698639574044788 Centerline is valid? [True, True] Translation: X:127.23, Y:-23.24, Z:-15.20 [[ 9.93094235e-01 8.94590884e-02 7.59006659e-02 1.27226673e+02] [-8.93925872e-02 9.95987273e-01 -4.27994159e-03 -2.32448249e+01] [-7.59789769e-02 -2.53457158e-03 9.97106198e-01 -1.52039466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.66629675700003 meters 0.07015082115756564 Centerline is valid? [True, True] Translation: X:127.26, Y:-23.25, Z:-15.21 [[ 9.93040997e-01 8.94358261e-02 7.66212170e-02 1.27258064e+02] [-8.93678782e-02 9.95989308e-01 -4.32203551e-03 -2.32458895e+01] [-7.67004577e-02 -2.55551714e-03 9.97050906e-01 -1.52072187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.69629675700003 meters 0.06999161804127109 Centerline is valid? [True, True] Translation: X:127.29, Y:-23.25, Z:-15.21 [[ 9.93015088e-01 8.95800818e-02 7.67883052e-02 1.27289362e+02] [-8.95107893e-02 9.95976350e-01 -4.35064546e-03 -2.32477512e+01] [-7.68690671e-02 -2.55312522e-03 9.97037927e-01 -1.52108700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.72629675700003 meters 0.06943961353619318 Centerline is valid? [True, True] Translation: X:127.32, Y:-23.25, Z:-15.21 [[ 9.92977891e-01 9.04051910e-02 7.63007837e-02 1.27321417e+02] [-9.03380062e-02 9.95901712e-01 -4.33864059e-03 -2.32524671e+01] [-7.63803168e-02 -2.58468649e-03 9.97075407e-01 -1.52111528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.75629675700003 meters 0.06949994113801385 Centerline is valid? [True, True] Translation: X:127.35, Y:-23.25, Z:-15.22 [[ 9.92773273e-01 9.14629755e-02 7.76901021e-02 1.27352783e+02] [-9.13950313e-02 9.95804830e-01 -4.43722375e-03 -2.32528274e+01] [-7.77700206e-02 -2.69533218e-03 9.96967682e-01 -1.52152653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.78629675700003 meters 0.06966756750865685 Centerline is valid? [True, True] Translation: X:127.39, Y:-23.25, Z:-15.22 [[ 9.92716708e-01 9.28375413e-02 7.67771348e-02 1.27385074e+02] [-9.27733993e-02 9.95677484e-01 -4.40946389e-03 -2.32531584e+01] [-7.68546282e-02 -2.74552731e-03 9.97038529e-01 -1.52189285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.81629675700003 meters 0.07015440249333035 Centerline is valid? [True, True] Translation: X:127.42, Y:-23.25, Z:-15.22 [[ 9.92581461e-01 9.47116775e-02 7.62347753e-02 1.27416495e+02] [-9.46539543e-02 9.95500608e-01 -4.37821588e-03 -2.32520011e+01] [-7.63064333e-02 -2.87018702e-03 9.97080283e-01 -1.52236354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.84629675700003 meters 0.07008535521793269 Centerline is valid? [True, True] Translation: X:127.45, Y:-23.25, Z:-15.23 [[ 9.92289362e-01 9.83276081e-02 7.54553042e-02 1.27447795e+02] [-9.82797157e-02 9.95149294e-01 -4.35666384e-03 -2.32534609e+01] [-7.55176730e-02 -3.09265465e-03 9.97139668e-01 -1.52262507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.87629675700003 meters 0.07221857851950027 Centerline is valid? [True, True] Translation: X:127.48, Y:-23.25, Z:-15.23 [[ 9.92064410e-01 1.02111308e-01 7.33586216e-02 1.27477801e+02] [-1.02076132e-01 9.94767561e-01 -4.23833318e-03 -2.32475814e+01] [-7.34075589e-02 -3.28346487e-03 9.97296620e-01 -1.52342684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.90629675700004 meters 0.07281525889804129 Centerline is valid? [True, True] Translation: X:127.51, Y:-23.25, Z:-15.24 [[ 9.92012233e-01 1.03800942e-01 7.16735299e-02 1.27508310e+02] [-1.03771635e-01 9.94592523e-01 -4.14253178e-03 -2.32483253e+01] [-7.17159556e-02 -3.32823717e-03 9.97419543e-01 -1.52383722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.936296757 meters 0.07322833900088474 Centerline is valid? [True, True] Translation: X:127.54, Y:-23.25, Z:-15.24 [[ 9.91929463e-01 1.05135449e-01 7.08694351e-02 1.27540465e+02] [-1.05110029e-01 9.94452154e-01 -4.09822667e-03 -2.32487561e+01] [-7.09071313e-02 -3.38393661e-03 9.97477182e-01 -1.52431881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.966296757 meters 0.07405896796649938 Centerline is valid? [True, True] Translation: X:127.57, Y:-23.25, Z:-15.25 [[ 9.91938991e-01 1.06388916e-01 6.88363068e-02 1.27571556e+02] [-1.06367522e-01 9.94318892e-01 -3.98651040e-03 -2.32483842e+01] [-6.88693608e-02 -3.36757224e-03 9.97620003e-01 -1.52477226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.996296757 meters 0.07280916257784201 Centerline is valid? [True, True] Translation: X:127.60, Y:-23.25, Z:-15.25 [[ 9.91914943e-01 1.06268638e-01 6.93665846e-02 1.27603180e+02] [-1.06247065e-01 9.94331672e-01 -4.01088188e-03 -2.32542734e+01] [-6.93996230e-02 -3.39154235e-03 9.97583174e-01 -1.52477179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.026296757 meters 0.07216959173302685 Centerline is valid? [True, True] Translation: X:127.63, Y:-23.26, Z:-15.25 [[ 9.92134225e-01 1.03347468e-01 7.06327098e-02 1.27633686e+02] [-1.03315843e-01 9.94640105e-01 -4.11073950e-03 -2.32597182e+01] [-7.06789604e-02 -3.21907262e-03 9.97493921e-01 -1.52491278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.056296757 meters 0.07162476827365788 Centerline is valid? [True, True] Translation: X:127.66, Y:-23.26, Z:-15.25 [[ 9.92331485e-01 1.00698136e-01 7.16806038e-02 1.27664665e+02] [-1.00658676e-01 9.94912271e-01 -4.17181751e-03 -2.32643764e+01] [-7.17360066e-02 -3.07544878e-03 9.97418912e-01 -1.52515861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.086296757 meters 0.07120955409893491 Centerline is valid? [True, True] Translation: X:127.70, Y:-23.27, Z:-15.25 [[ 9.92588120e-01 9.78332398e-02 7.20935583e-02 1.27696353e+02] [-9.77855538e-02 9.95198650e-01 -4.19911489e-03 -2.32688787e+01] [-7.21582249e-02 -2.88171697e-03 9.97389035e-01 -1.52541059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.11629675700001 meters 0.07057162252645925 Centerline is valid? [True, True] Translation: X:127.73, Y:-23.28, Z:-15.26 [[ 9.93000248e-01 9.17575109e-02 7.43711407e-02 1.27726070e+02] [-9.16893298e-02 9.95778214e-01 -4.33774478e-03 -2.32751633e+01] [-7.44551823e-02 -2.51165841e-03 9.97221198e-01 -1.52555626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.14629675700002 meters 0.06960499146339813 Centerline is valid? [True, True] Translation: X:127.76, Y:-23.28, Z:-15.26 [[ 9.93149645e-01 8.88919382e-02 7.58419787e-02 1.27757321e+02] [-8.88128028e-02 9.96038518e-01 -4.42223230e-03 -2.32822738e+01] [-7.59346329e-02 -2.34380027e-03 9.97110043e-01 -1.52554244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.17629675700002 meters 0.06910762516500873 Centerline is valid? [True, True] Translation: X:127.79, Y:-23.29, Z:-15.26 [[ 9.93659926e-01 8.25966604e-02 7.62741353e-02 1.27786298e+02] [-8.24977550e-02 9.96581306e-01 -4.45202888e-03 -2.32878390e+01] [-7.63811001e-02 -1.86864224e-03 9.97076946e-01 -1.52588655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.20629675700002 meters 0.06856903691352992 Centerline is valid? [True, True] Translation: X:127.82, Y:-23.29, Z:-15.26 [[ 9.93891836e-01 7.99629135e-02 7.60588637e-02 1.27817863e+02] [-7.98576844e-02 9.96796437e-01 -4.42876200e-03 -2.32926536e+01] [-7.61693410e-02 -1.67217434e-03 9.97093494e-01 -1.52601086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.23629675700002 meters 0.06907433435728841 Centerline is valid? [True, True] Translation: X:127.85, Y:-23.29, Z:-15.27 [[ 9.94036086e-01 7.77184407e-02 7.64990374e-02 1.27847887e+02] [-7.76038151e-02 9.96974236e-01 -4.47443937e-03 -2.32929148e+01] [-7.66153158e-02 -1.48886296e-03 9.97059615e-01 -1.52694507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26629675700002 meters 0.06834418358123408 Centerline is valid? [True, True] Translation: X:127.88, Y:-23.30, Z:-15.27 [[ 9.94495296e-01 7.29032020e-02 7.52610810e-02 1.27880314e+02] [-7.27772454e-02 9.97338433e-01 -4.41844689e-03 -2.33001039e+01] [-7.53828875e-02 -1.08316951e-03 9.97154074e-01 -1.52684131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29629675700002 meters 0.06859958742350426 Centerline is valid? [True, True] Translation: X:127.91, Y:-23.30, Z:-15.28 [[ 9.94660410e-01 7.15412456e-02 7.43809081e-02 1.27911201e+02] [-7.14131018e-02 9.97437189e-01 -4.38437503e-03 -2.33020741e+01] [-7.45039475e-02 -9.50807096e-04 9.97220265e-01 -1.52756793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32629675700002 meters 0.06832738718055949 Centerline is valid? [True, True] Translation: X:127.94, Y:-23.31, Z:-15.28 [[ 9.95033216e-01 6.87744216e-02 7.19651182e-02 1.27943063e+02] [-6.86458852e-02 9.97631990e-01 -4.26077567e-03 -2.33080742e+01] [-7.20877364e-02 -7.00495921e-04 9.97398049e-01 -1.52753424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35629675700002 meters 0.06864585485977209 Centerline is valid? [True, True] Translation: X:127.97, Y:-23.31, Z:-15.28 [[ 9.95159582e-01 6.75986030e-02 7.13290585e-02 1.27973956e+02] [-6.74680158e-02 9.97712423e-01 -4.24123939e-03 -2.33102485e+01] [-7.14525896e-02 -5.91720017e-04 9.97443822e-01 -1.52823695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.38629675700003 meters 0.06824794329046578 Centerline is valid? [True, True] Translation: X:128.01, Y:-23.31, Z:-15.28 [[ 9.95148941e-01 6.76271783e-02 7.14503340e-02 1.28007375e+02] [-6.74952117e-02 9.97710493e-01 -4.26249873e-03 -2.33128679e+01] [-7.15750087e-02 -5.80734316e-04 9.97435051e-01 -1.52819753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.41629675700003 meters 0.06829470321641047 Centerline is valid? [True, True] Translation: X:128.04, Y:-23.31, Z:-15.29 [[ 9.95159207e-01 6.83663195e-02 7.05988550e-02 1.28038341e+02] [-6.82378073e-02 9.97660103e-01 -4.23331406e-03 -2.33126801e+01] [-7.07230770e-02 -6.04689592e-04 9.97495805e-01 -1.52875745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.44629675700003 meters 0.068270251052106 Centerline is valid? [True, True] Translation: X:128.07, Y:-23.31, Z:-15.29 [[ 9.95067888e-01 6.98491072e-02 7.04343769e-02 1.28070189e+02] [-6.97238259e-02 9.97557328e-01 -4.23867656e-03 -2.33132759e+01] [-7.05583965e-02 -6.93183302e-04 9.97507410e-01 -1.52918709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.47629675700003 meters 0.06806083327169281 Centerline is valid? [True, True] Translation: X:128.10, Y:-23.31, Z:-15.29 [[ 9.94730678e-01 7.39986263e-02 7.09583030e-02 1.28102223e+02] [-7.38808082e-02 9.97257864e-01 -4.28710244e-03 -2.33136489e+01] [-7.10809654e-02 -9.77944451e-04 9.97470070e-01 -1.52923062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.50629675700003 meters 0.06805341195232485 Centerline is valid? [True, True] Translation: X:128.13, Y:-23.31, Z:-15.30 [[ 9.94513950e-01 7.67047578e-02 7.11223113e-02 1.28133344e+02] [-7.65919796e-02 9.97053181e-01 -4.31553042e-03 -2.33131967e+01] [-7.12437484e-02 -1.15554341e-03 9.97458266e-01 -1.52962683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.53629675700003 meters 0.06815700547089422 Centerline is valid? [True, True] Translation: X:128.17, Y:-23.31, Z:-15.30 [[ 9.93993386e-01 8.25824020e-02 7.18143193e-02 1.28165071e+02] [-8.24812153e-02 9.96583001e-01 -4.37845159e-03 -2.33097795e+01] [-7.19305129e-02 -1.57118041e-03 9.97408408e-01 -1.53000673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.56629675700003 meters 0.0686461860995239 Centerline is valid? [True, True] Translation: X:128.20, Y:-23.31, Z:-15.31 [[ 9.93826273e-01 8.52141152e-02 7.10485259e-02 1.28195292e+02] [-8.51211985e-02 9.96361152e-01 -4.33999852e-03 -2.33079569e+01] [-7.11598202e-02 -1.73453112e-03 9.97463419e-01 -1.53065196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.59629675700003 meters 0.06931157720318433 Centerline is valid? [True, True] Translation: X:128.23, Y:-23.31, Z:-15.31 [[ 9.93606033e-01 8.96264486e-02 6.86596718e-02 1.28226070e+02] [-8.95493283e-02 9.95973505e-01 -4.20647729e-03 -2.33070358e+01] [-6.87602256e-02 -1.96884628e-03 9.97631272e-01 -1.53107919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.62629675700003 meters 0.06965478722505276 Centerline is valid? [True, True] Translation: X:128.26, Y:-23.31, Z:-15.31 [[ 9.93478470e-01 9.18988184e-02 6.74917541e-02 1.28256973e+02] [-9.18300581e-02 9.95766141e-01 -4.12711433e-03 -2.33082846e+01] [-6.75852805e-02 -2.09757248e-03 9.97711296e-01 -1.53145703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.65629675700004 meters 0.07003896105651317 Centerline is valid? [True, True] Translation: X:128.29, Y:-23.31, Z:-15.32 [[ 9.93225581e-01 9.39786501e-02 6.83444058e-02 1.28287975e+02] [-9.39117178e-02 9.95571675e-01 -4.19875803e-03 -2.33091801e+01] [-6.84363481e-02 -2.24802666e-03 9.97652952e-01 -1.53191509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.686296757 meters 0.07029310498010059 Centerline is valid? [True, True] Translation: X:128.32, Y:-23.31, Z:-15.32 [[ 9.92738116e-01 9.77566645e-02 7.01046905e-02 1.28319575e+02] [-9.76952390e-02 9.95207035e-01 -4.31258946e-03 -2.33084474e+01] [-7.01902655e-02 -2.56762255e-03 9.97530317e-01 -1.53221077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.716296757 meters 0.07073594933423684 Centerline is valid? [True, True] Translation: X:128.35, Y:-23.31, Z:-15.33 [[ 9.92485517e-01 9.98688513e-02 7.07015609e-02 1.28350543e+02] [-9.98105993e-02 9.94996879e-01 -4.36512442e-03 -2.33079743e+01] [-7.07837724e-02 -2.72444239e-03 9.97487962e-01 -1.53264787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.746296757 meters 0.0716184112173769 Centerline is valid? [True, True] Translation: X:128.38, Y:-23.31, Z:-15.33 [[ 9.92130787e-01 1.03475663e-01 7.04931841e-02 1.28380643e+02] [-1.03425118e-01 9.94627615e-01 -4.37642485e-03 -2.33057078e+01] [-7.05673210e-02 -2.94878006e-03 9.97502661e-01 -1.53306829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.776296757 meters 0.07032940790991905 Centerline is valid? [True, True] Translation: X:128.41, Y:-23.31, Z:-15.33 [[ 9.91990026e-01 1.05122512e-01 7.00360324e-02 1.28412825e+02] [-1.05076913e-01 9.94454605e-01 -4.34513801e-03 -2.33126323e+01] [-7.01044268e-02 -3.04883655e-03 9.97534999e-01 -1.53288344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.806296757 meters 0.07063517838155842 Centerline is valid? [True, True] Translation: X:128.44, Y:-23.31, Z:-15.33 [[ 9.91704777e-01 1.07060493e-01 7.11314722e-02 1.28444964e+02] [-1.07018561e-01 9.94247237e-01 -4.41129367e-03 -2.33141795e+01] [-7.11945450e-02 -3.23768678e-03 9.97457194e-01 -1.53324676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.836296757 meters 0.0709109651440753 Centerline is valid? [True, True] Translation: X:128.48, Y:-23.32, Z:-15.33 [[ 9.91402706e-01 1.09581157e-01 7.15027597e-02 1.28476665e+02] [-1.09543992e-01 9.93971975e-01 -4.45280855e-03 -2.33157875e+01] [-7.15596831e-02 -3.41817131e-03 9.97430463e-01 -1.53338204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.86629675700001 meters 0.07146235248794416 Centerline is valid? [True, True] Translation: X:128.51, Y:-23.32, Z:-15.34 [[ 9.91261819e-01 1.10293656e-01 7.23554866e-02 1.28507424e+02] [-1.10256014e-01 9.93892914e-01 -4.52634811e-03 -2.33157549e+01] [-7.24128328e-02 -3.49083149e-03 9.97368636e-01 -1.53383280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.89629675700002 meters 0.07100419988721343 Centerline is valid? [True, True] Translation: X:128.54, Y:-23.32, Z:-15.34 [[ 9.91074588e-01 1.11856237e-01 7.25213251e-02 1.28539135e+02] [-1.11822161e-01 9.93717852e-01 -4.54261981e-03 -2.33181761e+01] [-7.25738557e-02 -3.60741625e-03 9.97356517e-01 -1.53402684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.92629675700002 meters 0.07095871483341583 Centerline is valid? [True, True] Translation: X:128.57, Y:-23.32, Z:-15.34 [[ 9.90944299e-01 1.12392285e-01 7.34668047e-02 1.28570698e+02] [-1.12357423e-01 9.93657115e-01 -4.62040267e-03 -2.33200927e+01] [-7.35201108e-02 -3.67597914e-03 9.97286960e-01 -1.53431912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.95629675700002 meters 0.07440764943008446 Centerline is valid? [True, True] Translation: X:128.60, Y:-23.31, Z:-15.35 [[ 9.90946864e-01 1.12468475e-01 7.33154460e-02 1.28602566e+02] [-1.12432409e-01 9.93648579e-01 -4.63200682e-03 -2.33119481e+01] [-7.33707435e-02 -3.65295956e-03 9.97298045e-01 -1.53540666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.98629675700002 meters 0.07146685336668253 Centerline is valid? [True, True] Translation: X:128.63, Y:-23.32, Z:-15.35 [[ 9.90825536e-01 1.13333070e-01 7.36231737e-02 1.28634310e+02] [-1.13298291e-01 9.93550080e-01 -4.66213255e-03 -2.33231400e+01] [-7.36766839e-02 -3.72201977e-03 9.97275234e-01 -1.53498377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01629675700002 meters 0.07139798930489424 Centerline is valid? [True, True] Translation: X:128.67, Y:-23.32, Z:-15.35 [[ 9.90807003e-01 1.13589720e-01 7.34769305e-02 1.28666602e+02] [-1.13554537e-01 9.93520790e-01 -4.66973383e-03 -2.33249185e+01] [-7.35312918e-02 -3.71683384e-03 9.97285984e-01 -1.53532983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04629675700002 meters 0.07139798930489424 Centerline is valid? [True, True] Translation: X:128.70, Y:-23.33, Z:-15.36 [[ 9.90774256e-01 1.13875862e-01 7.34755868e-02 1.28698786e+02] [-1.13839908e-01 9.93488033e-01 -4.69075846e-03 -2.33270561e+01] [-7.35312803e-02 -3.71697129e-03 9.97285985e-01 -1.53569206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07629675700002 meters 0.07152798509015228 Centerline is valid? [True, True] Translation: X:128.73, Y:-23.33, Z:-15.36 [[ 9.90796128e-01 1.13598031e-01 7.36105994e-02 1.28729193e+02] [-1.13559449e-01 9.93519978e-01 -4.72282651e-03 -2.33272824e+01] [-7.36701049e-02 -3.67982092e-03 9.97275877e-01 -1.53612919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10629675700002 meters 0.07158873801509158 Centerline is valid? [True, True] Translation: X:128.76, Y:-23.33, Z:-15.37 [[ 9.90830045e-01 1.13554058e-01 7.32208800e-02 1.28761463e+02] [-1.13514651e-01 9.93525144e-01 -4.71293033e-03 -2.33292517e+01] [-7.32819577e-02 -3.64192966e-03 9.97304613e-01 -1.53653905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.13629675700003 meters 0.0709678990407194 Centerline is valid? [True, True] Translation: X:128.79, Y:-23.33, Z:-15.37 [[ 9.90845559e-01 1.13642586e-01 7.28727735e-02 1.28794509e+02] [-1.13602317e-01 9.93515135e-01 -4.71064870e-03 -2.33337887e+01] [-7.29355337e-02 -3.61099060e-03 9.97330120e-01 -1.53671730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.16629675700003 meters 0.0714962828668001 Centerline is valid? [True, True] Translation: X:128.82, Y:-23.33, Z:-15.37 [[ 9.91024089e-01 1.12450341e-01 7.22922954e-02 1.28824940e+02] [-1.12405910e-01 9.93651278e-01 -4.69566466e-03 -2.33339106e+01] [-7.23613608e-02 -3.47256444e-03 9.97372435e-01 -1.53724381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.19629675700003 meters 0.07063007692862909 Centerline is valid? [True, True] Translation: X:128.86, Y:-23.34, Z:-15.37 [[ 9.91138937e-01 1.11362537e-01 7.24016149e-02 1.28856666e+02] [-1.11313921e-01 9.93774091e-01 -4.71871605e-03 -2.33380495e+01] [-7.24763372e-02 -3.38240442e-03 9.97364397e-01 -1.53742909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.22629675700003 meters 0.07117936640291957 Centerline is valid? [True, True] Translation: X:128.89, Y:-23.34, Z:-15.38 [[ 9.91161582e-01 1.10804009e-01 7.29464873e-02 1.28887438e+02] [-1.10751741e-01 9.93836639e-01 -4.77353490e-03 -2.33383517e+01] [-7.30258186e-02 -3.34760609e-03 9.97324432e-01 -1.53794669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.25629675700003 meters 0.07054758736106516 Centerline is valid? [True, True] Translation: X:128.92, Y:-23.34, Z:-15.38 [[ 9.91192822e-01 1.10405767e-01 7.31256171e-02 1.28919136e+02] [-1.10350970e-01 9.93881084e-01 -4.80151708e-03 -2.33430508e+01] [-7.32082827e-02 -3.31025354e-03 9.97311180e-01 -1.53807672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.28629675700003 meters 0.07108927828386759 Centerline is valid? [True, True] Translation: X:128.95, Y:-23.34, Z:-15.38 [[ 9.91206489e-01 1.09796513e-01 7.38540623e-02 1.28950613e+02] [-1.09737562e-01 9.93948676e-01 -4.86790693e-03 -2.33436847e+01] [-7.39416266e-02 -3.27946384e-03 9.97257179e-01 -1.53843992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.31629675700003 meters 0.07021983165962646 Centerline is valid? [True, True] Translation: X:128.98, Y:-23.35, Z:-15.38 [[ 9.91119378e-01 1.09993819e-01 7.47244100e-02 1.28983164e+02] [-1.09932218e-01 9.93926763e-01 -4.94950628e-03 -2.33483702e+01] [-7.48150061e-02 -3.30906853e-03 9.97191940e-01 -1.53848589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.34629675700003 meters 0.0709694730922853 Centerline is valid? [True, True] Translation: X:129.01, Y:-23.35, Z:-15.39 [[ 9.90970321e-01 1.10484878e-01 7.59665330e-02 1.29014074e+02] [-1.10422508e-01 9.93871989e-01 -5.03376254e-03 -2.33464960e+01] [-7.60571639e-02 -3.40010580e-03 9.97097662e-01 -1.53915913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.37629675700003 meters 0.07119472942178211 Centerline is valid? [True, True] Translation: X:129.05, Y:-23.35, Z:-15.40 [[ 9.90856568e-01 1.11003629e-01 7.66906561e-02 1.29046089e+02] [-1.10940286e-01 9.93813993e-01 -5.09903312e-03 -2.33474739e+01] [-7.67822584e-02 -3.45567289e-03 9.97041896e-01 -1.53953027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.40629675700004 meters 0.07125944900540379 Centerline is valid? [True, True] Translation: X:129.08, Y:-23.35, Z:-15.40 [[ 9.90754241e-01 1.11824731e-01 7.68196755e-02 1.29077878e+02] [-1.11762206e-01 9.93721758e-01 -5.12614429e-03 -2.33488523e+01] [-7.69106127e-02 -3.50678721e-03 9.97031825e-01 -1.53992893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.436296757 meters 0.07150610637386484 Centerline is valid? [True, True] Translation: X:129.11, Y:-23.35, Z:-15.40 [[ 9.90650249e-01 1.13481835e-01 7.57228956e-02 1.29109739e+02] [-1.13424081e-01 9.93533695e-01 -5.07682793e-03 -2.33511123e+01] [-7.58093760e-02 -3.55943901e-03 9.97115976e-01 -1.54027921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.466296757 meters 0.07163443666055537 Centerline is valid? [True, True] Translation: X:129.14, Y:-23.35, Z:-15.41 [[ 9.90530439e-01 1.14457830e-01 7.58212072e-02 1.29141510e+02] [-1.14402842e-01 9.93421440e-01 -5.08254580e-03 -2.33537745e+01] [-7.59041500e-02 -3.63974528e-03 9.97108476e-01 -1.54055249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.496296757 meters 0.0716377420488897 Centerline is valid? [True, True] Translation: X:129.17, Y:-23.36, Z:-15.41 [[ 9.90255675e-01 1.15575139e-01 7.76922504e-02 1.29173416e+02] [-1.15519337e-01 9.93291477e-01 -5.22730432e-03 -2.33550640e+01] [-7.77751965e-02 -3.79858949e-03 9.96963685e-01 -1.54091286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.526296757 meters 0.07049801585132047 Centerline is valid? [True, True] Translation: X:129.21, Y:-23.36, Z:-15.41 [[ 9.90096330e-01 1.16609697e-01 7.81756772e-02 1.29205702e+02] [-1.16554957e-01 9.93170217e-01 -5.27840037e-03 -2.33596501e+01] [-7.82572669e-02 -3.88563786e-03 9.96925625e-01 -1.54103389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.556296757 meters 0.07068722901706614 Centerline is valid? [True, True] Translation: X:129.24, Y:-23.36, Z:-15.41 [[ 9.89949096e-01 1.18220724e-01 7.76186050e-02 1.29237869e+02] [-1.18169721e-01 9.92979449e-01 -5.26601022e-03 -2.33604902e+01] [-7.76962312e-02 -3.95908687e-03 9.96969218e-01 -1.54138348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.586296757 meters 0.07187881316111022 Centerline is valid? [True, True] Translation: X:129.27, Y:-23.36, Z:-15.42 [[ 9.89854048e-01 1.19066450e-01 7.75380187e-02 1.29268527e+02] [-1.19017860e-01 9.92878159e-01 -5.26409472e-03 -2.33588725e+01] [-7.76125823e-02 -4.01772359e-03 9.96975499e-01 -1.54197171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.61629675700001 meters 0.07219137170219832 Centerline is valid? [True, True] Translation: X:129.30, Y:-23.36, Z:-15.42 [[ 9.89731899e-01 1.19810437e-01 7.79501634e-02 1.29299226e+02] [-1.19762808e-01 9.92788372e-01 -5.30257895e-03 -2.33605120e+01] [-7.80233201e-02 -4.08739895e-03 9.96943155e-01 -1.54231253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.64629675700002 meters 0.07182858482690482 Centerline is valid? [True, True] Translation: X:129.33, Y:-23.36, Z:-15.42 [[ 9.89467868e-01 1.20845392e-01 7.96851948e-02 1.29330971e+02] [-1.20798389e-01 9.92662222e-01 -5.42798987e-03 -2.33636626e+01] [-7.97564301e-02 -4.25502161e-03 9.96805300e-01 -1.54249314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.67629675700002 meters 0.07210293408683885 Centerline is valid? [True, True] Translation: X:129.36, Y:-23.37, Z:-15.43 [[ 9.89367147e-01 1.21321507e-01 8.02106037e-02 1.29362460e+02] [-1.21273891e-01 9.92603939e-01 -5.48309556e-03 -2.33651303e+01] [-8.02825785e-02 -4.30265738e-03 9.96762858e-01 -1.54285836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.70629675700002 meters 0.0711277509889731 Centerline is valid? [True, True] Translation: X:129.39, Y:-23.37, Z:-15.43 [[ 9.89279054e-01 1.21538236e-01 8.09654900e-02 1.29393977e+02] [-1.21488664e-01 9.92577265e-01 -5.55667116e-03 -2.33685416e+01] [-8.10398527e-02 -4.33929086e-03 9.96701416e-01 -1.54315953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.73629675700002 meters 0.07129816821794313 Centerline is valid? [True, True] Translation: X:129.43, Y:-23.37, Z:-15.44 [[ 9.89163135e-01 1.22035452e-01 8.16311300e-02 1.29426644e+02] [-1.21985153e-01 9.92516003e-01 -5.62191836e-03 -2.33700364e+01] [-8.17062762e-02 -4.39679146e-03 9.96646754e-01 -1.54353899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76629675700002 meters 0.07173243130981485 Centerline is valid? [True, True] Translation: X:129.46, Y:-23.37, Z:-15.44 [[ 9.89067977e-01 1.21822601e-01 8.30890529e-02 1.29457701e+02] [-1.21767385e-01 9.92542005e-01 -5.75078579e-03 -2.33697167e+01] [-8.31699509e-02 -4.42961862e-03 9.96525533e-01 -1.54389102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79629675700002 meters 0.06995400879382505 Centerline is valid? [True, True] Translation: X:129.49, Y:-23.38, Z:-15.44 [[ 9.88908272e-01 1.22337846e-01 8.42251796e-02 1.29489891e+02] [-1.22282200e-01 9.92478198e-01 -5.83870988e-03 -2.33773227e+01] [-8.43059496e-02 -4.52529172e-03 9.96429641e-01 -1.54386086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82629675700002 meters 0.07181226109503364 Centerline is valid? [True, True] Translation: X:129.52, Y:-23.37, Z:-15.44 [[ 9.88882501e-01 1.22263376e-01 8.46348938e-02 1.29520857e+02] [-1.22204827e-01 9.92487414e-01 -5.89173731e-03 -2.33734490e+01] [-8.47194106e-02 -4.51655667e-03 9.96394612e-01 -1.54446918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85629675700002 meters 0.0720106201202089 Centerline is valid? [True, True] Translation: X:129.55, Y:-23.37, Z:-15.45 [[ 9.88751167e-01 1.22041434e-01 8.64697523e-02 1.29552777e+02] [-1.21978588e-01 9.92514415e-01 -6.02999036e-03 -2.33739856e+01] [-8.65583843e-02 -4.58529826e-03 9.96236228e-01 -1.54472431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.88629675700003 meters 0.07095834925891834 Centerline is valid? [True, True] Translation: X:129.59, Y:-23.38, Z:-15.45 [[ 9.88751175e-01 1.21536120e-01 8.71784735e-02 1.29585043e+02] [-1.21468153e-01 9.92576562e-01 -6.10386362e-03 -2.33775364e+01] [-8.72731494e-02 -4.55420579e-03 9.96174009e-01 -1.54505196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.91629675700003 meters 0.07038833271436142 Centerline is valid? [True, True] Translation: X:129.62, Y:-23.38, Z:-15.46 [[ 9.88614487e-01 1.21975952e-01 8.81093768e-02 1.29617032e+02] [-1.21907911e-01 9.92522218e-01 -6.17318407e-03 -2.33790225e+01] [-8.82034940e-02 -4.63833087e-03 9.96091677e-01 -1.54550033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.94629675700003 meters 0.07177250592279937 Centerline is valid? [True, True] Translation: X:129.65, Y:-23.38, Z:-15.46 [[ 9.88704264e-01 1.22452182e-01 8.64253530e-02 1.29647883e+02] [-1.22386671e-01 9.92463894e-01 -6.07629852e-03 -2.33770060e+01] [-8.65180984e-02 -4.56964896e-03 9.96239799e-01 -1.54601711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.97629675700003 meters 0.07079504350233898 Centerline is valid? [True, True] Translation: X:129.68, Y:-23.38, Z:-15.46 [[ 9.88942610e-01 1.21816204e-01 8.45773363e-02 1.29680199e+02] [-1.21749663e-01 9.92542924e-01 -5.96355557e-03 -2.33823783e+01] [-8.46730943e-02 -4.39964795e-03 9.96399072e-01 -1.54628838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.00629675700003 meters 0.07063544418925964 Centerline is valid? [True, True] Translation: X:129.71, Y:-23.38, Z:-15.47 [[ 9.88935081e-01 1.21595854e-01 8.49814937e-02 1.29711928e+02] [-1.21525756e-01 9.92570042e-01 -6.01682258e-03 -2.33849489e+01] [-8.50817054e-02 -4.37719330e-03 9.96364363e-01 -1.54676708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.03629675700003 meters 0.07136862550156524 Centerline is valid? [True, True] Translation: X:129.74, Y:-23.38, Z:-15.47 [[ 9.89136547e-01 1.21052873e-01 8.33972063e-02 1.29743241e+02] [-1.20981805e-01 9.92637048e-01 -5.92394881e-03 -2.33842426e+01] [-8.35002677e-02 -4.22995032e-03 9.96498777e-01 -1.54741302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.06629675700003 meters 0.06951850314309597 Centerline is valid? [True, True] Translation: X:129.77, Y:-23.39, Z:-15.47 [[ 9.89186437e-01 1.21367923e-01 8.23408793e-02 1.29774525e+02] [-1.21297940e-01 9.92598785e-01 -5.87043228e-03 -2.33912477e+01] [-8.24439389e-02 -4.18082702e-03 9.96586934e-01 -1.54749510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.09629675700003 meters 0.07047895269332025 Centerline is valid? [True, True] Translation: X:129.81, Y:-23.39, Z:-15.48 [[ 9.89122872e-01 1.21372385e-01 8.30944531e-02 1.29805138e+02] [-1.21299290e-01 9.92598168e-01 -5.94630704e-03 -2.33890760e+01] [-8.32011194e-02 -4.19766988e-03 9.96523935e-01 -1.54807949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.12629675700003 meters 0.06974061639253358 Centerline is valid? [True, True] Translation: X:129.84, Y:-23.39, Z:-15.48 [[ 9.89067324e-01 1.21680106e-01 8.33053489e-02 1.29837467e+02] [-1.21607059e-01 9.92560371e-01 -5.96939766e-03 -2.33939159e+01] [-8.34119449e-02 -4.22638232e-03 9.96506189e-01 -1.54828765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.15629675700004 meters 0.06961210234384223 Centerline is valid? [True, True] Translation: X:129.87, Y:-23.40, Z:-15.49 [[ 9.89102985e-01 1.21142079e-01 8.36652965e-02 1.29869440e+02] [-1.21064394e-01 9.92626401e-01 -6.02008624e-03 -2.33963339e+01] [-8.37776679e-02 -4.17440312e-03 9.96475728e-01 -1.54862564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.186296757 meters 0.0688218806460733 Centerline is valid? [True, True] Translation: X:129.90, Y:-23.40, Z:-15.49 [[ 9.89057174e-01 1.20692135e-01 8.48487767e-02 1.29901228e+02] [-1.20608791e-01 9.92681210e-01 -6.12648879e-03 -2.34013712e+01] [-8.49672054e-02 -4.17406070e-03 9.96375005e-01 -1.54868627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.216296757 meters 0.06978216981010057 Centerline is valid? [True, True] Translation: X:129.93, Y:-23.40, Z:-15.49 [[ 9.88995994e-01 1.20343716e-01 8.60483217e-02 1.29931753e+02] [-1.20254737e-01 9.92723483e-01 -6.23579594e-03 -2.33995725e+01] [-8.61726285e-02 -4.18054113e-03 9.96271450e-01 -1.54919176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.246296757 meters 0.06987960878200353 Centerline is valid? [True, True] Translation: X:129.96, Y:-23.40, Z:-15.50 [[ 9.88909517e-01 1.20216561e-01 8.72120682e-02 1.29964160e+02] [-1.20122562e-01 9.92738797e-01 -6.34430541e-03 -2.34000502e+01] [-8.73414943e-02 -4.20219303e-03 9.96169566e-01 -1.54956181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.276296757 meters 0.07012530022784791 Centerline is valid? [True, True] Translation: X:129.99, Y:-23.40, Z:-15.50 [[ 9.88913460e-01 1.20188551e-01 8.72059735e-02 1.29994849e+02] [-1.20094079e-01 9.92742219e-01 -6.34816541e-03 -2.34009634e+01] [-8.73360284e-02 -4.19513484e-03 9.96170075e-01 -1.54994446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.306296757 meters 0.06888479837202138 Centerline is valid? [True, True] Translation: X:130.03, Y:-23.41, Z:-15.50 [[ 9.88682311e-01 1.20802334e-01 8.89611383e-02 1.30026941e+02] [-1.20704757e-01 9.92667199e-01 -6.49559978e-03 -2.34069638e+01] [-8.90934876e-02 -4.31594799e-03 9.96013917e-01 -1.55006479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.336296757 meters 0.06849458089105315 Centerline is valid? [True, True] Translation: X:130.06, Y:-23.41, Z:-15.50 [[ 9.88501601e-01 1.22113975e-01 8.91782549e-02 1.30058583e+02] [-1.22019239e-01 9.92506229e-01 -6.53373939e-03 -2.34099306e+01] [-8.93078344e-02 -4.42285097e-03 9.95994252e-01 -1.55027464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.36629675700001 meters 0.0693873807826776 Centerline is valid? [True, True] Translation: X:130.09, Y:-23.41, Z:-15.51 [[ 9.88419281e-01 1.23057442e-01 8.87929694e-02 1.30089372e+02] [-1.22965301e-01 9.92389500e-01 -6.52798327e-03 -2.34086420e+01] [-8.89205275e-02 -4.46606969e-03 9.96028711e-01 -1.55076311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.39629675700002 meters 0.06950404835935309 Centerline is valid? [True, True] Translation: X:130.12, Y:-23.41, Z:-15.51 [[ 9.88219750e-01 1.25083021e-01 8.81814245e-02 1.30120747e+02] [-1.24998188e-01 9.92135643e-01 -6.50528265e-03 -2.34098662e+01] [-8.83016347e-02 -4.59386951e-03 9.96083188e-01 -1.55123432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.42629675700002 meters 0.07037391367347001 Centerline is valid? [True, True] Translation: X:130.15, Y:-23.41, Z:-15.52 [[ 9.88072415e-01 1.25886307e-01 8.86878797e-02 1.30151701e+02] [-1.25801860e-01 9.92033675e-01 -6.56356230e-03 -2.34091499e+01] [-8.88076258e-02 -4.67182536e-03 9.96037840e-01 -1.55171456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.45629675700002 meters 0.06953351288324693 Centerline is valid? [True, True] Translation: X:130.18, Y:-23.41, Z:-15.52 [[ 9.88059801e-01 1.26744140e-01 8.75999620e-02 1.30183178e+02] [-1.26663370e-01 9.91924446e-01 -6.50258550e-03 -2.34143679e+01] [-8.77167084e-02 -4.67076308e-03 9.96134511e-01 -1.55192586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.48629675700002 meters 0.07054222684363483 Centerline is valid? [True, True] Translation: X:130.21, Y:-23.41, Z:-15.52 [[ 9.88097524e-01 1.26447131e-01 8.76036918e-02 1.30213584e+02] [-1.26363207e-01 9.91962579e-01 -6.52541973e-03 -2.34141770e+01] [-8.77247047e-02 -4.62213235e-03 9.96134033e-01 -1.55245461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51629675700002 meters 0.06945050343537873 Centerline is valid? [True, True] Translation: X:130.24, Y:-23.42, Z:-15.53 [[ 9.88238090e-01 1.25748319e-01 8.70220512e-02 1.30244906e+02] [-1.25661093e-01 9.92051923e-01 -6.50161258e-03 -2.34209154e+01] [-8.71479601e-02 -4.51014487e-03 9.96185169e-01 -1.55269056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54629675700002 meters 0.06904102807687025 Centerline is valid? [True, True] Translation: X:130.28, Y:-23.43, Z:-15.53 [[ 9.88612800e-01 1.22618078e-01 8.72326687e-02 1.30275274e+02] [-1.22515902e-01 9.92444972e-01 -6.54463260e-03 -2.34266717e+01] [-8.73761137e-02 -4.21728152e-03 9.96166467e-01 -1.55304490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57629675700002 meters 0.0691600635813582 Centerline is valid? [True, True] Translation: X:130.31, Y:-23.43, Z:-15.53 [[ 9.88845833e-01 1.20573328e-01 8.74413628e-02 1.30305524e+02] [-1.20462516e-01 9.92696186e-01 -6.56240654e-03 -2.34306198e+01] [-8.75939586e-02 -4.04419818e-03 9.96148053e-01 -1.55347682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60629675700002 meters 0.06810162409022752 Centerline is valid? [True, True] Translation: X:130.34, Y:-23.44, Z:-15.54 [[ 9.89445769e-01 1.15255806e-01 8.78246515e-02 1.30335400e+02] [-1.15122866e-01 9.93329372e-01 -6.59432530e-03 -2.34398368e+01] [-8.79988401e-02 -3.58589835e-03 9.96114123e-01 -1.55386578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.63629675700003 meters 0.0674206438907127 Centerline is valid? [True, True] Translation: X:130.37, Y:-23.45, Z:-15.54 [[ 9.89713608e-01 1.12684886e-01 8.81424400e-02 1.30366570e+02] [-1.12540589e-01 9.93625070e-01 -6.62081569e-03 -2.34476231e+01] [-8.83266040e-02 -3.36689074e-03 9.96085877e-01 -1.55409867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.66629675700003 meters 0.06738324759260578 Centerline is valid? [True, True] Translation: X:130.40, Y:-23.45, Z:-15.55 [[ 9.90018281e-01 1.09736840e-01 8.84399796e-02 1.30396068e+02] [-1.09579338e-01 9.93955815e-01 -6.64883266e-03 -2.34518870e+01] [-8.86350539e-02 -3.10872852e-03 9.96059317e-01 -1.55451447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.69629675700003 meters 0.06692047473218372 Centerline is valid? [True, True] Translation: X:130.43, Y:-23.46, Z:-15.55 [[ 9.90674698e-01 1.04253871e-01 8.77198527e-02 1.30425827e+02] [-1.04077351e-01 9.94547332e-01 -6.59612522e-03 -2.34611177e+01] [-8.79292171e-02 -2.59503551e-03 9.96123345e-01 -1.55493875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.72629675700003 meters 0.06645121269883401 Centerline is valid? [True, True] Translation: X:130.46, Y:-23.47, Z:-15.55 [[ 9.90892458e-01 1.02071424e-01 8.78268791e-02 1.30457233e+02] [-1.01886188e-01 9.94774160e-01 -6.60116328e-03 -2.34683841e+01] [-8.80417000e-02 -2.40730299e-03 9.96113881e-01 -1.55514019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.75629675700003 meters 0.06629069203913582 Centerline is valid? [True, True] Translation: X:130.49, Y:-23.48, Z:-15.56 [[ 9.91214037e-01 9.82699699e-02 8.85310394e-02 1.30487398e+02] [-9.80642155e-02 9.95157662e-01 -6.68112067e-03 -2.34754489e+01] [-8.87588957e-02 -2.05930633e-03 9.96051012e-01 -1.55562255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.78629675700003 meters 0.06630326554666076 Centerline is valid? [True, True] Translation: X:130.52, Y:-23.48, Z:-15.56 [[ 9.91217966e-01 9.74705007e-02 8.93669092e-02 1.30518516e+02] [-9.72577079e-02 9.95236389e-01 -6.74300733e-03 -2.34798718e+01] [-8.95984444e-02 -2.00783074e-03 9.95975947e-01 -1.55600691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.81629675700003 meters 0.06643792866127765 Centerline is valid? [True, True] Translation: X:130.55, Y:-23.48, Z:-15.56 [[ 9.91307353e-01 9.63924094e-02 8.95445987e-02 1.30548775e+02] [-9.61722361e-02 9.95341615e-01 -6.78021383e-03 -2.34836179e+01] [-8.97810266e-02 -1.89042847e-03 9.95959735e-01 -1.55647230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.84629675700003 meters 0.06606866029406044 Centerline is valid? [True, True] Translation: X:130.58, Y:-23.49, Z:-15.57 [[ 9.91356099e-01 9.58719847e-02 8.95636517e-02 1.30580178e+02] [-9.56487032e-02 9.95391983e-01 -6.79159089e-03 -2.34901554e+01] [-8.98020642e-02 -1.83376209e-03 9.95957944e-01 -1.55678590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.87629675700003 meters 0.06647143645187294 Centerline is valid? [True, True] Translation: X:130.61, Y:-23.49, Z:-15.57 [[ 9.91250673e-01 9.76470083e-02 8.88097118e-02 1.30611397e+02] [-9.74326519e-02 9.95219190e-01 -6.75595797e-03 -2.34944475e+01] [-8.90448285e-02 -1.95611785e-03 9.96025699e-01 -1.55709164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.90629675700004 meters 0.06686531221904947 Centerline is valid? [True, True] Translation: X:130.64, Y:-23.50, Z:-15.58 [[ 9.91247061e-01 9.88408847e-02 8.75199638e-02 1.30642342e+02] [-9.86354001e-02 9.95101219e-01 -6.68001205e-03 -2.34955972e+01] [-8.77514809e-02 -2.01102433e-03 9.96140368e-01 -1.55760277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.93629675700004 meters 0.06686531221904947 Centerline is valid? [True, True] Translation: X:130.67, Y:-23.50, Z:-15.58 [[ 9.91219924e-01 9.91131743e-02 8.75193753e-02 1.30674450e+02] [-9.89080684e-02 9.95074102e-01 -6.68771749e-03 -2.34981354e+01] [-8.77511047e-02 -2.02737354e-03 9.96140368e-01 -1.55796373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.966296757 meters 0.06736864237560813 Centerline is valid? [True, True] Translation: X:130.70, Y:-23.50, Z:-15.59 [[ 9.90987286e-01 1.01190172e-01 8.77766948e-02 1.30704691e+02] [-1.00989716e-01 9.94864686e-01 -6.73303447e-03 -2.34982946e+01] [-8.80072508e-02 -2.19219196e-03 9.96117422e-01 -1.55859152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.996296757 meters 0.06743304196059381 Centerline is valid? [True, True] Translation: X:130.74, Y:-23.50, Z:-15.59 [[ 9.90685009e-01 1.03844692e-01 8.80879816e-02 1.30736631e+02] [-1.03651563e-01 9.94590587e-01 -6.77621267e-03 -2.35027579e+01] [-8.83151511e-02 -2.41736468e-03 9.96089650e-01 -1.55890193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.026296757 meters 0.06762175493031866 Centerline is valid? [True, True] Translation: X:130.77, Y:-23.51, Z:-15.59 [[ 9.90472518e-01 1.05676697e-01 8.82985091e-02 1.30768257e+02] [-1.05487991e-01 9.94397232e-01 -6.81392413e-03 -2.35050764e+01] [-8.85238660e-02 -2.56542772e-03 9.96070752e-01 -1.55936109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.056296757 meters 0.06841629152696434 Centerline is valid? [True, True] Translation: X:130.80, Y:-23.51, Z:-15.60 [[ 9.90038962e-01 1.08777737e-01 8.93882417e-02 1.30798678e+02] [-1.08594733e-01 9.94062001e-01 -6.92258840e-03 -2.35059136e+01] [-8.96104779e-02 -2.85345999e-03 9.95972801e-01 -1.55997987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.086296757 meters 0.06882294759951668 Centerline is valid? [True, True] Translation: X:130.83, Y:-23.51, Z:-15.60 [[ 9.89734182e-01 1.10991672e-01 9.00394239e-02 1.30830362e+02] [-1.10814323e-01 9.93816602e-01 -6.98185949e-03 -2.35079729e+01] [-9.02576026e-02 -3.06747286e-03 9.95913729e-01 -1.56041756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.11629675700001 meters 0.06880890819919981 Centerline is valid? [True, True] Translation: X:130.86, Y:-23.51, Z:-15.61 [[ 9.89554664e-01 1.12227250e-01 9.04798892e-02 1.30861985e+02] [-1.12051373e-01 9.93677496e-01 -7.03730195e-03 -2.35113423e+01] [-9.06976068e-02 -3.17460080e-03 9.95873419e-01 -1.56079506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.14629675700002 meters 0.06910629935659408 Centerline is valid? [True, True] Translation: X:130.89, Y:-23.52, Z:-15.61 [[ 9.89169152e-01 1.14608348e-01 9.17023172e-02 1.30893971e+02] [-1.14435845e-01 9.93404877e-01 -7.15449986e-03 -2.35160924e+01] [-9.19174946e-02 -3.41702156e-03 9.95760764e-01 -1.56106363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.17629675700002 meters 0.06956221915490461 Centerline is valid? [True, True] Translation: X:130.92, Y:-23.52, Z:-15.62 [[ 9.89045154e-01 1.14960506e-01 9.25946347e-02 1.30924196e+02] [-1.14784020e-01 9.93364035e-01 -7.24721279e-03 -2.35181021e+01] [-9.28133232e-02 -3.46056372e-03 9.95677514e-01 -1.56153406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.20629675700002 meters 0.0689611875024123 Centerline is valid? [True, True] Translation: X:130.96, Y:-23.53, Z:-15.62 [[ 9.88843211e-01 1.15559535e-01 9.39951999e-02 1.30955424e+02] [-1.15378380e-01 9.93294214e-01 -7.37792693e-03 -2.35279985e+01] [-9.42174781e-02 -3.54940096e-03 9.95545312e-01 -1.56168757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.23629675700002 meters 0.06946082095589287 Centerline is valid? [True, True] Translation: X:130.99, Y:-23.53, Z:-15.62 [[ 9.88801011e-01 1.15444316e-01 9.45789082e-02 1.30985924e+02] [-1.15258095e-01 9.93307657e-01 -7.44776950e-03 -2.35304341e+01] [-9.48057564e-02 -3.53662279e-03 9.95489508e-01 -1.56221192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26629675700002 meters 0.06938066287054713 Centerline is valid? [True, True] Translation: X:131.02, Y:-23.54, Z:-15.63 [[ 9.88784514e-01 1.14219873e-01 9.62237232e-02 1.31017791e+02] [-1.14018969e-01 9.93449488e-01 -7.60190329e-03 -2.35371826e+01] [-9.64616970e-02 -3.45468547e-03 9.95330702e-01 -1.56260357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29629675700002 meters 0.06860992893774193 Centerline is valid? [True, True] Translation: X:131.05, Y:-23.54, Z:-15.63 [[ 9.88716911e-01 1.14227108e-01 9.69073657e-02 1.31049700e+02] [-1.14022776e-01 9.93448589e-01 -7.66208344e-03 -2.35440746e+01] [-9.71477033e-02 -3.47401541e-03 9.95263912e-01 -1.56282216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32629675700002 meters 0.0690859583951057 Centerline is valid? [True, True] Translation: X:131.08, Y:-23.55, Z:-15.63 [[ 9.88575976e-01 1.13994666e-01 9.86040321e-02 1.31080526e+02] [-1.13779440e-01 9.93475243e-01 -7.82176299e-03 -2.35461153e+01] [-9.88523041e-02 -3.48670457e-03 9.95096008e-01 -1.56324356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35629675700002 meters 0.068742107058947 Centerline is valid? [True, True] Translation: X:131.11, Y:-23.55, Z:-15.64 [[ 9.88575794e-01 1.12675004e-01 1.00111149e-01 1.31111548e+02] [-1.12444069e-01 9.93626135e-01 -7.96459175e-03 -2.35540959e+01] [-1.00370465e-01 -3.38330235e-03 9.94944382e-01 -1.56355431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.38629675700003 meters 0.06915958489643881 Centerline is valid? [True, True] Translation: X:131.14, Y:-23.56, Z:-15.64 [[ 9.88708186e-01 1.12497445e-01 9.89972076e-02 1.31143164e+02] [-1.12268331e-01 9.93646523e-01 -7.89999335e-03 -2.35560706e+01] [-9.92569602e-02 -3.30346320e-03 9.95056352e-01 -1.56395450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.41629675700003 meters 0.0689767942817692 Centerline is valid? [True, True] Translation: X:131.17, Y:-23.56, Z:-15.64 [[ 9.88943221e-01 1.11298923e-01 9.79992592e-02 1.31174205e+02] [-1.11065996e-01 9.93782060e-01 -7.84606877e-03 -2.35625792e+01] [-9.82631648e-02 -3.12506884e-03 9.95155558e-01 -1.56439822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.44629675700003 meters 0.0692120391762176 Centerline is valid? [True, True] Translation: X:131.21, Y:-23.57, Z:-15.65 [[ 9.88978512e-01 1.11234577e-01 9.77157669e-02 1.31205221e+02] [-1.11000277e-01 9.93789389e-01 -7.84780565e-03 -2.35658389e+01] [-9.79818397e-02 -3.08516600e-03 9.95183421e-01 -1.56480515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.47629675700003 meters 0.0689615326397956 Centerline is valid? [True, True] Translation: X:131.24, Y:-23.57, Z:-15.65 [[ 9.89044683e-01 1.11129780e-01 9.71637074e-02 1.31237735e+02] [-1.10896130e-01 9.93801246e-01 -7.81862862e-03 -2.35703689e+01] [-9.74302960e-02 -3.04210602e-03 9.95237702e-01 -1.56515214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.50629675700003 meters 0.06916621235841369 Centerline is valid? [True, True] Translation: X:131.27, Y:-23.57, Z:-15.66 [[ 9.89132173e-01 1.11753520e-01 9.55442077e-02 1.31269223e+02] [-1.11527946e-01 9.93731352e-01 -7.71471803e-03 -2.35744549e+01] [-9.58074216e-02 -3.02497346e-03 9.95395292e-01 -1.56559525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.53629675700003 meters 0.06932968842447093 Centerline is valid? [True, True] Translation: X:131.30, Y:-23.58, Z:-15.66 [[ 9.88944206e-01 1.12650777e-01 9.64321474e-02 1.31301921e+02] [-1.12423015e-01 9.93629750e-01 -7.80936663e-03 -2.35772963e+01] [-9.66975817e-02 -3.11816491e-03 9.95308924e-01 -1.56603959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.56629675700003 meters 0.07002803239945 Centerline is valid? [True, True] Translation: X:131.33, Y:-23.58, Z:-15.67 [[ 9.88752442e-01 1.14449793e-01 9.62800734e-02 1.31332751e+02] [-1.14228596e-01 9.93423680e-01 -7.82437235e-03 -2.35778431e+01] [-9.65424026e-02 -3.26157031e-03 9.95323529e-01 -1.56655500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.59629675700003 meters 0.06968074775136897 Centerline is valid? [True, True] Translation: X:131.36, Y:-23.58, Z:-15.67 [[ 9.88661499e-01 1.15823675e-01 9.55683880e-02 1.31364261e+02] [-1.15610116e-01 9.93264143e-01 -7.78744019e-03 -2.35821354e+01] [-9.58266229e-02 -3.34953012e-03 9.95392405e-01 -1.56681689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.62629675700003 meters 0.07009710049758441 Centerline is valid? [True, True] Translation: X:131.40, Y:-23.58, Z:-15.67 [[ 9.88452165e-01 1.17163358e-01 9.60992500e-02 1.31395033e+02] [-1.16951294e-01 9.93106581e-01 -7.85585968e-03 -2.35837727e+01] [-9.63572165e-02 -3.47379014e-03 9.95340756e-01 -1.56722152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.65629675700004 meters 0.07042444855736749 Centerline is valid? [True, True] Translation: X:131.43, Y:-23.59, Z:-15.68 [[ 9.88215251e-01 1.19773422e-01 9.53149746e-02 1.31426353e+02] [-1.19575857e-01 9.92794407e-01 -7.80253409e-03 -2.35863862e+01] [-9.55627099e-02 -3.68678655e-03 9.95416584e-01 -1.56762326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.68629675700004 meters 0.07060526829417438 Centerline is valid? [True, True] Translation: X:131.46, Y:-23.59, Z:-15.68 [[ 9.88047458e-01 1.21457256e-01 9.49228932e-02 1.31458391e+02] [-1.21267018e-01 9.92589341e-01 -7.79167287e-03 -2.35886899e+01] [-9.51658073e-02 -3.81247366e-03 9.95454135e-01 -1.56795858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.716296757 meters 0.07158552385642587 Centerline is valid? [True, True] Translation: X:131.49, Y:-23.59, Z:-15.68 [[ 9.87881400e-01 1.23856388e-01 9.35410882e-02 1.31488828e+02] [-1.23680017e-01 9.92292254e-01 -7.70298480e-03 -2.35896302e+01] [-9.37741611e-02 -3.95952801e-03 9.95585621e-01 -1.56832047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.746296757 meters 0.07176934302857706 Centerline is valid? [True, True] Translation: X:131.52, Y:-23.59, Z:-15.69 [[ 9.87791370e-01 1.24966237e-01 9.30142361e-02 1.31520486e+02] [-1.24795903e-01 9.92152799e-01 -7.66857235e-03 -2.35931445e+01] [-9.32426473e-02 -4.03284595e-03 9.95635247e-01 -1.56866536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.776296757 meters 0.07208926229312208 Centerline is valid? [True, True] Translation: X:131.55, Y:-23.60, Z:-15.69 [[ 9.87753403e-01 1.25596016e-01 9.25681091e-02 1.31551384e+02] [-1.25427911e-01 9.92073204e-01 -7.65486148e-03 -2.35954153e+01] [-9.27957607e-02 -4.04950903e-03 9.95676930e-01 -1.56908030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.806296757 meters 0.07269352742228956 Centerline is valid? [True, True] Translation: X:131.58, Y:-23.60, Z:-15.70 [[ 9.87786081e-01 1.26277091e-01 9.12839190e-02 1.31581902e+02] [-1.26114431e-01 9.91986808e-01 -7.57120260e-03 -2.35975878e+01] [-9.15085129e-02 -4.03349094e-03 9.95796125e-01 -1.56954949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.836296757 meters 0.0726679542147394 Centerline is valid? [True, True] Translation: X:131.61, Y:-23.60, Z:-15.70 [[ 9.87560188e-01 1.27208898e-01 9.24271091e-02 1.31614337e+02] [-1.27045361e-01 9.91867213e-01 -7.67517071e-03 -2.36008517e+01] [-9.26517691e-02 -4.16274245e-03 9.95689872e-01 -1.56986661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.86629675700001 meters 0.0724355846883679 Centerline is valid? [True, True] Translation: X:131.65, Y:-23.60, Z:-15.70 [[ 9.87343943e-01 1.28571421e-01 9.28511066e-02 1.31646239e+02] [-1.28409935e-01 9.91690997e-01 -7.73657133e-03 -2.36040882e+01] [-9.30743084e-02 -4.28434771e-03 9.95649947e-01 -1.57014252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.89629675700002 meters 0.07385663376040638 Centerline is valid? [True, True] Translation: X:131.68, Y:-23.60, Z:-15.71 [[ 9.87111129e-01 1.29478005e-01 9.40588369e-02 1.31677994e+02] [-1.29314223e-01 9.91572513e-01 -7.86021568e-03 -2.36016404e+01] [-9.42838823e-02 -4.40423901e-03 9.95535611e-01 -1.57066108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.92629675700002 meters 0.07432480213879422 Centerline is valid? [True, True] Translation: X:131.71, Y:-23.60, Z:-15.71 [[ 9.86915921e-01 1.30649057e-01 9.44869722e-02 1.31710282e+02] [-1.30486733e-01 9.91418412e-01 -7.92115922e-03 -2.36025773e+01] [-9.47110159e-02 -4.51177814e-03 9.95494584e-01 -1.57099788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.95629675700002 meters 0.07305906468450742 Centerline is valid? [True, True] Translation: X:131.74, Y:-23.61, Z:-15.71 [[ 9.86645267e-01 1.32969044e-01 9.40762980e-02 1.31740751e+02] [-1.32816280e-01 9.91109099e-01 -7.91140497e-03 -2.36083503e+01] [-9.42918469e-02 -4.68911365e-03 9.95533555e-01 -1.57120974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98629675700002 meters 0.0751775412647883 Centerline is valid? [True, True] Translation: X:131.77, Y:-23.60, Z:-15.72 [[ 9.86591465e-01 1.33759792e-01 9.35179106e-02 1.31771923e+02] [-1.33611949e-01 9.91002487e-01 -7.86884305e-03 -2.36039997e+01] [-9.37290168e-02 -4.73177693e-03 9.95586501e-01 -1.57177956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01629675700002 meters 0.07639849341284385 Centerline is valid? [True, True] Translation: X:131.80, Y:-23.60, Z:-15.72 [[ 9.86719720e-01 1.34686048e-01 9.07957207e-02 1.31802287e+02] [-1.34549332e-01 9.90877342e-01 -7.65316635e-03 -2.36033993e+01] [-9.09981971e-02 -4.66497337e-03 9.95840131e-01 -1.57233493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04629675700002 meters 0.07407676929759467 Centerline is valid? [True, True] Translation: X:131.83, Y:-23.61, Z:-15.73 [[ 9.86695008e-01 1.35152477e-01 9.03701763e-02 1.31834079e+02] [-1.35019100e-01 9.90813726e-01 -7.61597808e-03 -2.36121866e+01] [-9.05693294e-02 -4.68705234e-03 9.95879123e-01 -1.57250473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07629675700002 meters 0.07299462954762916 Centerline is valid? [True, True] Translation: X:131.87, Y:-23.62, Z:-15.73 [[ 9.86901562e-01 1.33795897e-01 9.01330367e-02 1.31865954e+02] [-1.33655609e-01 9.90998561e-01 -7.61775805e-03 -2.36177252e+01] [-9.03409344e-02 -4.52880861e-03 9.95900600e-01 -1.57268701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10629675700002 meters 0.073446224091864 Centerline is valid? [True, True] Translation: X:131.90, Y:-23.62, Z:-15.73 [[ 9.87008549e-01 1.33489507e-01 8.94129485e-02 1.31896351e+02] [-1.33348169e-01 9.91040271e-01 -7.57937199e-03 -2.36186281e+01] [-8.96235994e-02 -4.44214804e-03 9.95965802e-01 -1.57308093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.13629675700003 meters 0.0736329677524045 Centerline is valid? [True, True] Translation: X:131.93, Y:-23.62, Z:-15.73 [[ 9.87273622e-01 1.31411090e-01 8.95651729e-02 1.31926591e+02] [-1.31258484e-01 9.91318912e-01 -7.61746925e-03 -2.36202261e+01] [-8.97886697e-02 -4.23566232e-03 9.95951833e-01 -1.57342160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.16629675700003 meters 0.07228276198649625 Centerline is valid? [True, True] Translation: X:131.96, Y:-23.63, Z:-15.73 [[ 9.87346650e-01 1.31254901e-01 8.89873196e-02 1.31958914e+02] [-1.31104015e-01 9.91339762e-01 -7.56390522e-03 -2.36281707e+01] [-8.92094679e-02 -4.19839845e-03 9.96004038e-01 -1.57346172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.19629675700003 meters 0.07241548468696364 Centerline is valid? [True, True] Translation: X:131.99, Y:-23.63, Z:-15.74 [[ 9.87473797e-01 1.30607767e-01 8.85274576e-02 1.31989456e+02] [-1.30453448e-01 9.91425675e-01 -7.55168394e-03 -2.36299652e+01] [-8.87547030e-02 -4.09162209e-03 9.96045110e-01 -1.57388235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.22629675700003 meters 0.0717951453354146 Centerline is valid? [True, True] Translation: X:132.02, Y:-23.64, Z:-15.74 [[ 9.87711447e-01 1.29257838e-01 8.78550460e-02 1.32021297e+02] [-1.29098754e-01 9.91603270e-01 -7.51439811e-03 -2.36352956e+01] [-8.80886458e-02 -3.91991994e-03 9.96104927e-01 -1.57410809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.25629675700003 meters 0.072722886302566 Centerline is valid? [True, True] Translation: X:132.05, Y:-23.63, Z:-15.75 [[ 9.87726449e-01 1.29138133e-01 8.78624143e-02 1.32052602e+02] [-1.28976547e-01 9.91618996e-01 -7.53768834e-03 -2.36340233e+01] [-8.80994421e-02 -3.88701666e-03 9.96104101e-01 -1.57469812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.28629675700003 meters 0.07251297022976018 Centerline is valid? [True, True] Translation: X:132.08, Y:-23.64, Z:-15.75 [[ 9.87857496e-01 1.29549727e-01 8.57580031e-02 1.32083959e+02] [-1.29395239e-01 9.91565625e-01 -7.38122284e-03 -2.36373281e+01] [-8.59909234e-02 -3.80508100e-03 9.96288654e-01 -1.57499883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.31629675700003 meters 0.07243907177836947 Centerline is valid? [True, True] Translation: X:132.12, Y:-23.64, Z:-15.75 [[ 9.87832743e-01 1.29943055e-01 8.54474913e-02 1.32115547e+02] [-1.29790487e-01 9.91514109e-01 -7.36217159e-03 -2.36404564e+01] [-8.56790562e-02 -3.81767737e-03 9.96315474e-01 -1.57535702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.34629675700003 meters 0.07263640367988751 Centerline is valid? [True, True] Translation: X:132.15, Y:-23.64, Z:-15.76 [[ 9.87819147e-01 1.30269590e-01 8.51067935e-02 1.32147175e+02] [-1.30117648e-01 9.91471291e-01 -7.35375392e-03 -2.36425395e+01] [-8.53389129e-02 -3.80971689e-03 9.96344697e-01 -1.57573514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.37629675700003 meters 0.0728051349899507 Centerline is valid? [True, True] Translation: X:132.18, Y:-23.64, Z:-15.76 [[ 9.87747256e-01 1.30096696e-01 8.61986551e-02 1.32178160e+02] [-1.29938254e-01 9.91493946e-01 -7.47033918e-03 -2.36432125e+01] [-8.64373111e-02 -3.82169570e-03 9.96249962e-01 -1.57608981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.40629675700004 meters 0.07183420159533113 Centerline is valid? [True, True] Translation: X:132.21, Y:-23.65, Z:-15.76 [[ 9.87674425e-01 1.30245048e-01 8.68070112e-02 1.32209837e+02] [-1.30083213e-01 9.91474389e-01 -7.54278762e-03 -2.36483040e+01] [-8.70493391e-02 -3.84231648e-03 9.96196592e-01 -1.57620534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.43629675700004 meters 0.07196097575292051 Centerline is valid? [True, True] Translation: X:132.24, Y:-23.65, Z:-15.77 [[ 9.87593451e-01 1.30981758e-01 8.66196032e-02 1.32241542e+02] [-1.30821531e-01 9.91377198e-01 -7.54841818e-03 -2.36502004e+01] [-8.68614045e-02 -3.87694071e-03 9.96212862e-01 -1.57660728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.466296757 meters 0.07171765068734255 Centerline is valid? [True, True] Translation: X:132.27, Y:-23.65, Z:-15.77 [[ 9.87526333e-01 1.31133624e-01 8.71533993e-02 1.32273652e+02] [-1.30970091e-01 9.91357060e-01 -7.61680687e-03 -2.36529240e+01] [-8.73989571e-02 -3.89269124e-03 9.96165784e-01 -1.57701808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.496296757 meters 0.07243103415788509 Centerline is valid? [True, True] Translation: X:132.30, Y:-23.65, Z:-15.77 [[ 9.87535110e-01 1.32207407e-01 8.54143359e-02 1.32304307e+02] [-1.32052246e-01 9.91214467e-01 -7.48897733e-03 -2.36518834e+01] [-8.56540237e-02 -3.88352681e-03 9.96317372e-01 -1.57746348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.526296757 meters 0.07232759299593872 Centerline is valid? [True, True] Translation: X:132.34, Y:-23.66, Z:-15.78 [[ 9.87419576e-01 1.33215158e-01 8.51839364e-02 1.32335672e+02] [-1.33063931e-01 9.91079259e-01 -7.47616729e-03 -2.36551939e+01] [-8.54199713e-02 -3.95279550e-03 9.96337194e-01 -1.57781069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.556296757 meters 0.07306110433205394 Centerline is valid? [True, True] Translation: X:132.37, Y:-23.66, Z:-15.78 [[ 9.87305886e-01 1.34318562e-01 8.47679905e-02 1.32366728e+02] [-1.34170787e-01 9.90930114e-01 -7.46390005e-03 -2.36552775e+01] [-8.50016948e-02 -4.00423557e-03 9.96372761e-01 -1.57813243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.586296757 meters 0.07326530813450764 Centerline is valid? [True, True] Translation: X:132.40, Y:-23.66, Z:-15.79 [[ 9.87296201e-01 1.35146706e-01 8.35558505e-02 1.32398398e+02] [-1.35005439e-01 9.90817487e-01 -7.36467576e-03 -2.36572119e+01] [-8.37839095e-02 -4.00937792e-03 9.96475881e-01 -1.57854262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.61629675700001 meters 0.07358535093547798 Centerline is valid? [True, True] Translation: X:132.43, Y:-23.66, Z:-15.79 [[ 9.87369747e-01 1.35672338e-01 8.18168633e-02 1.32430292e+02] [-1.35537066e-01 9.90745889e-01 -7.23093852e-03 -2.36583247e+01] [-8.20407593e-02 -3.94960762e-03 9.96621149e-01 -1.57899188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.64629675700002 meters 0.07317962849190521 Centerline is valid? [True, True] Translation: X:132.46, Y:-23.66, Z:-15.79 [[ 9.87462714e-01 1.35208895e-01 8.14612990e-02 1.32461530e+02] [-1.35071610e-01 9.90809539e-01 -7.21918368e-03 -2.36624829e+01] [-8.16887300e-02 -3.87443411e-03 9.96650360e-01 -1.57933623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.67629675700002 meters 0.07333473271565387 Centerline is valid? [True, True] Translation: X:132.49, Y:-23.67, Z:-15.80 [[ 9.87601690e-01 1.34411109e-01 8.10959611e-02 1.32491789e+02] [-1.34270709e-01 9.90918480e-01 -7.20717755e-03 -2.36653332e+01] [-8.13282112e-02 -3.77099142e-03 9.96680240e-01 -1.57980341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.70629675700002 meters 0.07168055746969156 Centerline is valid? [True, True] Translation: X:132.52, Y:-23.68, Z:-15.80 [[ 9.88125740e-01 1.30588914e-01 8.09571316e-02 1.32522400e+02] [-1.30434272e-01 9.91430680e-01 -7.21856311e-03 -2.36757427e+01] [-8.12060484e-02 -3.42673653e-03 9.96691444e-01 -1.57989405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.73629675700002 meters 0.0714195908047856 Centerline is valid? [True, True] Translation: X:132.55, Y:-23.68, Z:-15.80 [[ 9.88346035e-01 1.28443129e-01 8.16974792e-02 1.32553235e+02] [-1.28278072e-01 9.91711462e-01 -7.28785806e-03 -2.36806625e+01] [-8.19564018e-02 -3.27706951e-03 9.96630528e-01 -1.58026184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76629675700002 meters 0.0705725370518924 Centerline is valid? [True, True] Translation: X:132.58, Y:-23.69, Z:-15.81 [[ 9.88921120e-01 1.23464593e-01 8.24106328e-02 1.32582840e+02] [-1.23279090e-01 9.92344782e-01 -7.35522652e-03 -2.36880116e+01] [-8.26878715e-02 -2.88576893e-03 9.96571316e-01 -1.58068997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79629675700002 meters 0.0704229572932132 Centerline is valid? [True, True] Translation: X:132.61, Y:-23.69, Z:-15.81 [[ 9.89112626e-01 1.21875202e-01 8.24781631e-02 1.32613755e+02] [-1.21684337e-01 9.92541593e-01 -7.35580460e-03 -2.36927331e+01] [-8.27594976e-02 -2.76058135e-03 9.96565725e-01 -1.58105733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82629675700002 meters 0.06958832379475634 Centerline is valid? [True, True] Translation: X:132.64, Y:-23.70, Z:-15.81 [[ 9.89330783e-01 1.19397810e-01 8.34791224e-02 1.32644833e+02] [-1.19191454e-01 9.92843194e-01 -7.46927941e-03 -2.36989680e+01] [-8.37734941e-02 -2.56040991e-03 9.96481533e-01 -1.58124795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85629675700002 meters 0.06958832379475634 Centerline is valid? [True, True] Translation: X:132.68, Y:-23.70, Z:-15.82 [[ 9.89297810e-01 1.19670478e-01 8.34794534e-02 1.32676904e+02] [-1.19465400e-01 9.92810296e-01 -7.46559384e-03 -2.37019362e+01] [-8.37726720e-02 -2.58721067e-03 9.96481533e-01 -1.58160845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.88629675700003 meters 0.06935819259877968 Centerline is valid? [True, True] Translation: X:132.71, Y:-23.71, Z:-15.82 [[ 9.89580954e-01 1.16428612e-01 8.46989614e-02 1.32706610e+02] [-1.16203009e-01 9.93196363e-01 -7.60563008e-03 -2.37080168e+01] [-8.50082133e-02 -2.31588753e-03 9.96377559e-01 -1.58197686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.91629675700003 meters 0.06846861622018859 Centerline is valid? [True, True] Translation: X:132.74, Y:-23.72, Z:-15.82 [[ 9.89782176e-01 1.13490422e-01 8.63201546e-02 1.32737612e+02] [-1.13244890e-01 9.93536865e-01 -7.75189785e-03 -2.37160065e+01] [-8.66420219e-02 -2.10262608e-03 9.96237291e-01 -1.58213597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.94629675700003 meters 0.06857364247111432 Centerline is valid? [True, True] Translation: X:132.77, Y:-23.72, Z:-15.83 [[ 9.89888309e-01 1.12737363e-01 8.60896155e-02 1.32768537e+02] [-1.12490086e-01 9.93622751e-01 -7.73365437e-03 -2.37191748e+01] [-8.64124723e-02 -2.02877419e-03 9.96257381e-01 -1.58252253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.97629675700003 meters 0.06866746989216463 Centerline is valid? [True, True] Translation: X:132.80, Y:-23.72, Z:-15.83 [[ 9.89829355e-01 1.12537179e-01 8.70243159e-02 1.32800690e+02] [-1.12282555e-01 9.93645462e-01 -7.83100613e-03 -2.37220115e+01] [-8.73525959e-02 -2.01995278e-03 9.96175408e-01 -1.58297120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.00629675700003 meters 0.06883262318389123 Centerline is valid? [True, True] Translation: X:132.83, Y:-23.72, Z:-15.83 [[ 9.89715141e-01 1.13582717e-01 8.69649696e-02 1.32832584e+02] [-1.13332144e-01 9.93526309e-01 -7.82934035e-03 -2.37242189e+01] [-8.72912630e-02 -2.10710980e-03 9.96180604e-01 -1.58333006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.03629675700003 meters 0.06890629320868481 Centerline is valid? [True, True] Translation: X:132.86, Y:-23.73, Z:-15.84 [[ 9.89619322e-01 1.14363336e-01 8.70323236e-02 1.32864801e+02] [-1.14113628e-01 9.93436647e-01 -7.85544962e-03 -2.37264772e+01] [-8.73594752e-02 -2.15766948e-03 9.96174516e-01 -1.58373197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.06629675700003 meters 0.06926389753117182 Centerline is valid? [True, True] Translation: X:132.90, Y:-23.73, Z:-15.84 [[ 9.89431841e-01 1.17086779e-01 8.55296322e-02 1.32896671e+02] [-1.16853311e-01 9.93118959e-01 -7.74834710e-03 -2.37274683e+01] [-8.58483283e-02 -2.32795940e-03 9.96305498e-01 -1.58418510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.09629675700003 meters 0.06972519403384626 Centerline is valid? [True, True] Translation: X:132.93, Y:-23.73, Z:-15.85 [[ 9.89246647e-01 1.18577769e-01 8.56176650e-02 1.32927504e+02] [-1.18349206e-01 9.92941726e-01 -7.75843869e-03 -2.37284431e+01] [-8.59333305e-02 -2.45777327e-03 9.96297858e-01 -1.58471522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.12629675700003 meters 0.07052472602461231 Centerline is valid? [True, True] Translation: X:132.96, Y:-23.73, Z:-15.85 [[ 9.88920931e-01 1.22532992e-01 8.37917515e-02 1.32956998e+02] [-1.22326147e-01 9.92460722e-01 -7.61762663e-03 -2.37281545e+01] [-8.40934328e-02 -2.71669171e-03 9.96454171e-01 -1.58525988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.15629675700004 meters 0.07090501764967747 Centerline is valid? [True, True] Translation: X:132.99, Y:-23.73, Z:-15.86 [[ 9.88610716e-01 1.24685332e-01 8.42758533e-02 1.32989049e+02] [-1.24484429e-01 9.92192030e-01 -7.65524645e-03 -2.37293606e+01] [-8.45723269e-02 -2.92297276e-03 9.96413056e-01 -1.58564661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.18629675700004 meters 0.07179304262241584 Centerline is valid? [True, True] Translation: X:133.02, Y:-23.73, Z:-15.86 [[ 9.88365246e-01 1.27137453e-01 8.34877772e-02 1.33020116e+02] [-1.26947034e-01 9.91880327e-01 -7.60712973e-03 -2.37285358e+01] [-8.37770348e-02 -3.07990302e-03 9.96479765e-01 -1.58617747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.216296757 meters 0.07196138465090637 Centerline is valid? [True, True] Translation: X:133.05, Y:-23.73, Z:-15.86 [[ 9.87773218e-01 1.31045513e-01 8.44460920e-02 1.33051538e+02] [-1.30863930e-01 9.91370388e-01 -7.70616887e-03 -2.37288876e+01] [-8.47272139e-02 -3.43900026e-03 9.96398250e-01 -1.58646390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.246296757 meters 0.07251105924544989 Centerline is valid? [True, True] Translation: X:133.08, Y:-23.73, Z:-15.87 [[ 9.87437556e-01 1.32982540e-01 8.53388357e-02 1.33082095e+02] [-1.32804465e-01 9.91111677e-01 -7.78579878e-03 -2.37302693e+01] [-8.56156918e-02 -3.64538833e-03 9.96321567e-01 -1.58685793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.276296757 meters 0.07235396719249962 Centerline is valid? [True, True] Translation: X:133.11, Y:-23.74, Z:-15.87 [[ 9.87045688e-01 1.35053035e-01 8.66111265e-02 1.33113815e+02] [-1.34875854e-01 9.90830841e-01 -7.92140824e-03 -2.37359738e+01] [-8.68867855e-02 -3.86295783e-03 9.96210703e-01 -1.58697363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.306296757 meters 0.07308685982271386 Centerline is valid? [True, True] Translation: X:133.15, Y:-23.74, Z:-15.87 [[ 9.87006791e-01 1.35317475e-01 8.66416457e-02 1.33145810e+02] [-1.35139362e-01 9.90794746e-01 -7.94508268e-03 -2.37377949e+01] [-8.69191959e-02 -3.86684618e-03 9.96207860e-01 -1.58747437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.336296757 meters 0.07302533270059232 Centerline is valid? [True, True] Translation: X:133.18, Y:-23.74, Z:-15.88 [[ 9.86975285e-01 1.35874007e-01 8.61280450e-02 1.33177557e+02] [-1.35697910e-01 9.90718577e-01 -7.92331539e-03 -2.37432718e+01] [-8.64052268e-02 -3.86727921e-03 9.96252569e-01 -1.58771061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.36629675700001 meters 0.07329253454302391 Centerline is valid? [True, True] Translation: X:133.21, Y:-23.75, Z:-15.88 [[ 9.86847109e-01 1.36561131e-01 8.65091966e-02 1.33210140e+02] [-1.36384289e-01 9.90623873e-01 -7.97920078e-03 -2.37461823e+01] [-8.67877240e-02 -3.92424408e-03 9.96219098e-01 -1.58808381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.39629675700002 meters 0.07291146912473426 Centerline is valid? [True, True] Translation: X:133.24, Y:-23.75, Z:-15.88 [[ 9.86955887e-01 1.35596977e-01 8.67844315e-02 1.33242037e+02] [-1.35413054e-01 9.90756691e-01 -8.03025335e-03 -2.37515005e+01] [-8.70711343e-02 -3.82623909e-03 9.96194749e-01 -1.58840194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.42629675700002 meters 0.07260517472284576 Centerline is valid? [True, True] Translation: X:133.27, Y:-23.76, Z:-15.89 [[ 9.87075908e-01 1.34468808e-01 8.71739120e-02 1.33274311e+02] [-1.34276585e-01 9.90910852e-01 -8.09209245e-03 -2.37564692e+01] [-8.74697094e-02 -3.71790567e-03 9.96160242e-01 -1.58868084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.45629675700002 meters 0.07231277521392865 Centerline is valid? [True, True] Translation: X:133.31, Y:-23.76, Z:-15.89 [[ 9.87234889e-01 1.32753386e-01 8.79989341e-02 1.33305403e+02] [-1.32549907e-01 9.91142596e-01 -8.17786315e-03 -2.37611830e+01] [-8.83051310e-02 -3.59077869e-03 9.96086999e-01 -1.58901972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48629675700002 meters 0.07150016462795977 Centerline is valid? [True, True] Translation: X:133.34, Y:-23.77, Z:-15.89 [[ 9.87667777e-01 1.27960170e-01 9.02139563e-02 1.33335280e+02] [-1.27726043e-01 9.91774020e-01 -8.38756397e-03 -2.37696005e+01] [-9.05451322e-02 -3.23854504e-03 9.95887087e-01 -1.58918276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51629675700002 meters 0.07056023600008475 Centerline is valid? [True, True] Translation: X:133.36, Y:-23.78, Z:-15.90 [[ 9.88318950e-01 1.23008161e-01 8.99702476e-02 1.33364391e+02] [-1.22754751e-01 9.92401776e-01 -8.36576726e-03 -2.37776678e+01] [-9.03156911e-02 -2.77622905e-03 9.95909317e-01 -1.58954588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54629675700002 meters 0.07033251096233634 Centerline is valid? [True, True] Translation: X:133.40, Y:-23.78, Z:-15.90 [[ 9.88528357e-01 1.20294834e-01 9.13282063e-02 1.33395180e+02] [-1.20022126e-01 9.92734893e-01 -8.49249041e-03 -2.37825988e+01] [-9.16862998e-02 -2.56633790e-03 9.95784634e-01 -1.58999839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57629675700002 meters 0.07017967968365953 Centerline is valid? [True, True] Translation: X:133.43, Y:-23.79, Z:-15.90 [[ 9.88769292e-01 1.18444294e-01 9.11385548e-02 1.33427186e+02] [-1.18164680e-01 9.92957828e-01 -8.47700008e-03 -2.37876826e+01] [-9.15007937e-02 -2.38756083e-03 9.95802141e-01 -1.59043331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60629675700002 meters 0.06989218321109844 Centerline is valid? [True, True] Translation: X:133.46, Y:-23.79, Z:-15.91 [[ 9.88952872e-01 1.15352870e-01 9.30909934e-02 1.33457139e+02] [-1.15046629e-01 9.93322276e-01 -8.66765539e-03 -2.37936820e+01] [-9.34691964e-02 -2.13790231e-03 9.95619877e-01 -1.59077759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.63629675700003 meters 0.06982075727809185 Centerline is valid? [True, True] Translation: X:133.49, Y:-23.80, Z:-15.91 [[ 9.88917168e-01 1.14636199e-01 9.43471043e-02 1.33487944e+02] [-1.14318354e-01 9.93405325e-01 -8.78486952e-03 -2.37978399e+01] [-9.47319799e-02 -2.09809740e-03 9.95500603e-01 -1.59112628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.66629675700003 meters 0.06970518151434643 Centerline is valid? [True, True] Translation: X:133.52, Y:-23.81, Z:-15.91 [[ 9.88946875e-01 1.13784695e-01 9.50637783e-02 1.33519035e+02] [-1.13456115e-01 9.93503395e-01 -8.87205437e-03 -2.38057585e+01] [-9.54556905e-02 -2.01157648e-03 9.95431647e-01 -1.59126233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.69629675700003 meters 0.06956079001396949 Centerline is valid? [True, True] Translation: X:133.55, Y:-23.81, Z:-15.92 [[ 9.88939177e-01 1.13500532e-01 9.54826332e-02 1.33550990e+02] [-1.13165482e-01 9.93535983e-01 -8.93444027e-03 -2.38094525e+01] [-9.58794955e-02 -1.96972019e-03 9.95391000e-01 -1.59161845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.72629675700003 meters 0.06980616500113163 Centerline is valid? [True, True] Translation: X:133.58, Y:-23.81, Z:-15.92 [[ 9.88932848e-01 1.14849486e-01 9.39224013e-02 1.33582156e+02] [-1.14529087e-01 9.93380806e-01 -8.81258225e-03 -2.38121209e+01] [-9.43128313e-02 -2.04179478e-03 9.95540517e-01 -1.59204702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.75629675700003 meters 0.07002314900066858 Centerline is valid? [True, True] Translation: X:133.61, Y:-23.81, Z:-15.92 [[ 9.88742308e-01 1.16630655e-01 9.37333374e-02 1.33614176e+02] [-1.16318407e-01 9.93172931e-01 -8.80668179e-03 -2.38130313e+01] [-9.41205425e-02 -2.19537358e-03 9.95558388e-01 -1.59246103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.78629675700003 meters 0.07065605200060518 Centerline is valid? [True, True] Translation: X:133.64, Y:-23.81, Z:-15.93 [[ 9.88423496e-01 1.20786840e-01 9.18124818e-02 1.33644856e+02] [-1.20503873e-01 9.92675259e-01 -8.63986646e-03 -2.38114991e+01] [-9.21835613e-02 -2.52391266e-03 9.95738832e-01 -1.59303384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.81629675700003 meters 0.07096516890571147 Centerline is valid? [True, True] Translation: X:133.68, Y:-23.81, Z:-15.93 [[ 9.88228744e-01 1.23168831e-01 9.07380169e-02 1.33676685e+02] [-1.22902415e-01 9.92382022e-01 -8.53925222e-03 -2.38138636e+01] [-9.10985464e-02 -2.71318686e-03 9.95838186e-01 -1.59340163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.84629675700003 meters 0.07172855025918853 Centerline is valid? [True, True] Translation: X:133.71, Y:-23.81, Z:-15.94 [[ 9.88035500e-01 1.26369413e-01 8.84116613e-02 1.33706807e+02] [-1.26128665e-01 9.91978942e-01 -8.32693862e-03 -2.38129880e+01] [-8.87547767e-02 -2.92393384e-03 9.96049216e-01 -1.59399112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.87629675700003 meters 0.07204472165544386 Centerline is valid? [True, True] Translation: X:133.74, Y:-23.81, Z:-15.94 [[ 9.87904689e-01 1.28272210e-01 8.71238468e-02 1.33738410e+02] [-1.28045612e-01 9.91734316e-01 -8.20776789e-03 -2.38143736e+01] [-8.74565372e-02 -3.04733386e-03 9.96163675e-01 -1.59434013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.90629675700004 meters 0.07284811779525313 Centerline is valid? [True, True] Translation: X:133.77, Y:-23.81, Z:-15.95 [[ 9.87664289e-01 1.30350702e-01 8.67637464e-02 1.33769355e+02] [-1.30132969e-01 9.91462764e-01 -8.18522394e-03 -2.38131101e+01] [-8.70899735e-02 -3.20657055e-03 9.96195289e-01 -1.59488953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.93629675700004 meters 0.07404347363068067 Centerline is valid? [True, True] Translation: X:133.80, Y:-23.81, Z:-15.95 [[ 9.87013904e-01 1.35084724e-01 8.69233557e-02 1.33800780e+02] [-1.34883866e-01 9.90827424e-01 -8.20720973e-03 -2.38093789e+01] [-8.72347133e-02 -3.62392810e-03 9.96181194e-01 -1.59534147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.966296757 meters 0.0753193114576792 Centerline is valid? [True, True] Translation: X:133.83, Y:-23.81, Z:-15.96 [[ 9.86627855e-01 1.37713369e-01 8.71808679e-02 1.33831644e+02] [-1.37521272e-01 9.90464584e-01 -8.23456521e-03 -2.38067150e+01] [-8.74835718e-02 -3.86477247e-03 9.96158465e-01 -1.59585463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.996296757 meters 0.07442802410192889 Centerline is valid? [True, True] Translation: X:133.86, Y:-23.81, Z:-15.96 [[ 9.86336489e-01 1.40639309e-01 8.57957740e-02 1.33862463e+02] [-1.40463996e-01 9.90052596e-01 -8.10702162e-03 -2.38121345e+01] [-8.60824947e-02 -4.05496601e-03 9.96279761e-01 -1.59585656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.026296757 meters 0.07523013637971819 Centerline is valid? [True, True] Translation: X:133.89, Y:-23.81, Z:-15.96 [[ 9.86259465e-01 1.41427083e-01 8.53852942e-02 1.33892947e+02] [-1.41256297e-01 9.89940173e-01 -8.06920286e-03 -2.38125846e+01] [-8.56675368e-02 -4.10288281e-03 9.96315331e-01 -1.59626356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.056296757 meters 0.07510699356964368 Centerline is valid? [True, True] Translation: X:133.93, Y:-23.82, Z:-15.97 [[ 9.86265416e-01 1.41623977e-01 8.49892813e-02 1.33925208e+02] [-1.41455729e-01 9.89912022e-01 -8.02906003e-03 -2.38163602e+01] [-8.52690187e-02 -4.10343653e-03 9.96349515e-01 -1.59659358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.086296757 meters 0.07459203100454154 Centerline is valid? [True, True] Translation: X:133.96, Y:-23.82, Z:-15.97 [[ 9.86324842e-01 1.40604045e-01 8.59872620e-02 1.33957551e+02] [-1.40425525e-01 9.90057687e-01 -8.15157912e-03 -2.38212205e+01] [-8.62784947e-02 -4.03470139e-03 9.96262888e-01 -1.59684054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.11629675700001 meters 0.07431805212097534 Centerline is valid? [True, True] Translation: X:133.99, Y:-23.83, Z:-15.97 [[ 9.86583177e-01 1.38396836e-01 8.66022598e-02 1.33988953e+02] [-1.38206129e-01 9.90369348e-01 -8.22313903e-03 -2.38267170e+01] [-8.69062800e-02 -3.85615243e-03 9.96209029e-01 -1.59718757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.14629675700002 meters 0.07283569033435713 Centerline is valid? [True, True] Translation: X:134.02, Y:-23.84, Z:-15.97 [[ 9.87263337e-01 1.33862564e-01 8.59762599e-02 1.34019591e+02] [-1.33656824e-01 9.90993990e-01 -8.17103389e-03 -2.38370842e+01] [-8.62957524e-02 -3.42435163e-03 9.96263678e-01 -1.59737067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.17629675700002 meters 0.07283998707483867 Centerline is valid? [True, True] Translation: X:134.05, Y:-23.84, Z:-15.98 [[ 9.87689840e-01 1.31101001e-01 8.53305747e-02 1.34049981e+02] [-1.30887766e-01 9.91363995e-01 -8.11309679e-03 -2.38413776e+01] [-8.56572945e-02 -3.15550504e-03 9.96319663e-01 -1.59774581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.20629675700002 meters 0.07189894767038668 Centerline is valid? [True, True] Translation: X:134.08, Y:-23.85, Z:-15.98 [[ 9.87973532e-01 1.28578220e-01 8.58833035e-02 1.34081098e+02] [-1.28352478e-01 9.91694973e-01 -8.16832731e-03 -2.38488888e+01] [-8.62203094e-02 -2.95324367e-03 9.96271718e-01 -1.59803314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.23629675700002 meters 0.07106532807802424 Centerline is valid? [True, True] Translation: X:134.11, Y:-23.86, Z:-15.98 [[ 9.88634598e-01 1.24020212e-01 8.49742292e-02 1.34112307e+02] [-1.23782035e-01 9.92276482e-01 -8.08642534e-03 -2.38592806e+01] [-8.53208094e-02 -2.52376311e-03 9.96350335e-01 -1.59811950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26629675700002 meters 0.07113595467305961 Centerline is valid? [True, True] Translation: X:134.14, Y:-23.86, Z:-15.99 [[ 9.88794054e-01 1.22219985e-01 8.57239409e-02 1.34142762e+02] [-1.21970811e-01 9.92500160e-01 -8.15807746e-03 -2.38633802e+01] [-8.60781051e-02 -2.38916010e-03 9.96285527e-01 -1.59858584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29629675700002 meters 0.07052471503641412 Centerline is valid? [True, True] Translation: X:134.17, Y:-23.87, Z:-15.99 [[ 9.89052914e-01 1.19286379e-01 8.68624933e-02 1.34173852e+02] [-1.19017099e-01 9.92857588e-01 -8.29101670e-03 -2.38713374e+01] [-8.72310909e-02 -2.13786772e-03 9.96185809e-01 -1.59872924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32629675700002 meters 0.0704854012304808 Centerline is valid? [True, True] Translation: X:134.20, Y:-23.87, Z:-15.99 [[ 9.89058647e-01 1.18793393e-01 8.74706946e-02 1.34204862e+02] [-1.18518343e-01 9.92916756e-01 -8.34974907e-03 -2.38743285e+01] [-8.78430134e-02 -2.10849029e-03 9.96132099e-01 -1.59912122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35629675700002 meters 0.07047784781881472 Centerline is valid? [True, True] Translation: X:134.24, Y:-23.88, Z:-16.00 [[ 9.89108840e-01 1.18431672e-01 8.73935976e-02 1.34236970e+02] [-1.18153999e-01 9.92960077e-01 -8.36167442e-03 -2.38779545e+01] [-8.77686405e-02 -2.05529699e-03 9.96138766e-01 -1.59950098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.38629675700003 meters 0.07072463873895916 Centerline is valid? [True, True] Translation: X:134.27, Y:-23.88, Z:-16.00 [[ 9.89030899e-01 1.19640737e-01 8.66254846e-02 1.34268252e+02] [-1.19370696e-01 9.92814983e-01 -8.30943950e-03 -2.38809110e+01] [-8.69972265e-02 -2.12225199e-03 9.96206293e-01 -1.59986154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.41629675700003 meters 0.07080298865814351 Centerline is valid? [True, True] Translation: X:134.30, Y:-23.88, Z:-16.00 [[ 9.88957505e-01 1.20733504e-01 8.59446003e-02 1.34299887e+02] [-1.20470203e-01 9.92682557e-01 -8.26267721e-03 -2.38837137e+01] [-8.63132876e-02 -2.18232677e-03 9.96265654e-01 -1.60016766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.44629675700003 meters 0.07100314780453407 Centerline is valid? [True, True] Translation: X:134.33, Y:-23.89, Z:-16.00 [[ 9.88796636e-01 1.23055442e-01 8.44900674e-02 1.34331523e+02] [-1.22807352e-01 9.92397086e-01 -8.14729451e-03 -2.38860884e+01] [-8.48502656e-02 -2.31998402e-03 9.96391013e-01 -1.60046403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.47629675700003 meters 0.07192054898441275 Centerline is valid? [True, True] Translation: X:134.36, Y:-23.88, Z:-16.01 [[ 9.88640752e-01 1.24734941e-01 8.38490146e-02 1.34362204e+02] [-1.24496489e-01 9.92187091e-01 -8.08710650e-03 -2.38847739e+01] [-8.42026546e-02 -2.44366483e-03 9.96445654e-01 -1.60114615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.50629675700003 meters 0.07190541987910434 Centerline is valid? [True, True] Translation: X:134.39, Y:-23.89, Z:-16.01 [[ 9.88273696e-01 1.28615172e-01 8.22996931e-02 1.34392946e+02] [-1.28396850e-01 9.91690908e-01 -7.96196412e-03 -2.38869692e+01] [-8.26398867e-02 -2.69842162e-03 9.96575821e-01 -1.60124672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.53629675700003 meters 0.07226695029855641 Centerline is valid? [True, True] Translation: X:134.42, Y:-23.89, Z:-16.02 [[ 9.88130708e-01 1.30740468e-01 8.06513145e-02 1.34424532e+02] [-1.30537818e-01 9.91412624e-01 -7.80302179e-03 -2.38879812e+01] [-8.09789021e-02 -2.81764117e-03 9.96711833e-01 -1.60163803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.56629675700003 meters 0.07324447873424418 Centerline is valid? [True, True] Translation: X:134.45, Y:-23.89, Z:-16.02 [[ 9.87540027e-01 1.35898460e-01 7.93492488e-02 1.34454889e+02] [-1.35718627e-01 9.90717653e-01 -7.68030368e-03 -2.38852153e+01] [-7.96564429e-02 -3.18456379e-03 9.96817290e-01 -1.60203981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.59629675700003 meters 0.0741107325464447 Centerline is valid? [True, True] Translation: X:134.49, Y:-23.88, Z:-16.02 [[ 9.87288094e-01 1.38458052e-01 7.80486264e-02 1.34485397e+02] [-1.38291535e-01 9.90362705e-01 -7.56073873e-03 -2.38848062e+01] [-7.83432939e-02 -3.32883698e-03 9.96920883e-01 -1.60243530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.62629675700003 meters 0.07526747695202851 Centerline is valid? [True, True] Translation: X:134.52, Y:-23.88, Z:-16.03 [[ 9.86701929e-01 1.43213480e-01 7.68713390e-02 1.34516635e+02] [-1.43066269e-01 9.89685092e-01 -7.44727798e-03 -2.38826347e+01] [-7.71449687e-02 -3.64945210e-03 9.97013207e-01 -1.60289552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.65629675700004 meters 0.07583641031725981 Centerline is valid? [True, True] Translation: X:134.55, Y:-23.88, Z:-16.03 [[ 9.86465843e-01 1.45621296e-01 7.53629742e-02 1.34547464e+02] [-1.45486517e-01 9.89333267e-01 -7.30481388e-03 -2.38840949e+01] [-7.56228339e-02 -3.75834725e-03 9.97129411e-01 -1.60323364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.68629675700004 meters 0.0768834293818697 Centerline is valid? [True, True] Translation: X:134.58, Y:-23.88, Z:-16.04 [[ 9.86018131e-01 1.48435333e-01 7.57310807e-02 1.34577085e+02] [-1.48307347e-01 9.88914060e-01 -7.34249218e-03 -2.38833356e+01] [-7.59814158e-02 -3.99164525e-03 9.97101244e-01 -1.60365863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.716296757 meters 0.07656512072056265 Centerline is valid? [True, True] Translation: X:134.61, Y:-23.89, Z:-16.04 [[ 9.85890347e-01 1.49648706e-01 7.50032589e-02 1.34608747e+02] [-1.49526852e-01 9.88730943e-01 -7.26936697e-03 -2.38872660e+01] [-7.52458942e-02 -4.04820245e-03 9.97156792e-01 -1.60385200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.746296757 meters 0.07656512072056265 Centerline is valid? [True, True] Translation: X:134.64, Y:-23.89, Z:-16.04 [[ 9.85847892e-01 1.49928021e-01 7.50034801e-02 1.34640829e+02] [-1.49807143e-01 9.88688530e-01 -7.26710157e-03 -2.38904967e+01] [-7.52446227e-02 -4.07180032e-03 9.97156792e-01 -1.60421311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.776296757 meters 0.07694031662492999 Centerline is valid? [True, True] Translation: X:134.67, Y:-23.89, Z:-16.04 [[ 9.85626537e-01 1.51115989e-01 7.55267296e-02 1.34672573e+02] [-1.50995125e-01 9.88507249e-01 -7.34108744e-03 -2.38917104e+01] [-7.57680754e-02 -4.16859737e-03 9.97116754e-01 -1.60448518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.806296757 meters 0.07634531027050823 Centerline is valid? [True, True] Translation: X:134.70, Y:-23.90, Z:-16.05 [[ 9.85606451e-01 1.51035703e-01 7.59482681e-02 1.34704398e+02] [-1.50911800e-01 9.88519526e-01 -7.40107070e-03 -2.38959653e+01] [-7.61941718e-02 -4.16694678e-03 9.97084292e-01 -1.60465510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.836296757 meters 0.07626161477725091 Centerline is valid? [True, True] Translation: X:134.73, Y:-23.90, Z:-16.05 [[ 9.85720168e-01 1.49599928e-01 7.73020868e-02 1.34734911e+02] [-1.49465053e-01 9.88738104e-01 -7.56037133e-03 -2.38988437e+01] [-7.75625498e-02 -4.10155002e-03 9.96979051e-01 -1.60488278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.86629675700001 meters 0.07572998228961003 Centerline is valid? [True, True] Translation: X:134.77, Y:-23.90, Z:-16.05 [[ 9.85942173e-01 1.48256644e-01 7.70584105e-02 1.34766699e+02] [-1.48118870e-01 9.88940881e-01 -7.53215406e-03 -2.39037600e+01] [-7.73229043e-02 -3.98753634e-03 9.96998128e-01 -1.60512213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.89629675700002 meters 0.07483805350933385 Centerline is valid? [True, True] Translation: X:134.80, Y:-23.91, Z:-16.05 [[ 9.86492560e-01 1.44053718e-01 7.79804802e-02 1.34797203e+02] [-1.43897467e-01 9.89563043e-01 -7.64877328e-03 -2.39082269e+01] [-7.82684355e-02 -3.67573564e-03 9.96925544e-01 -1.60545549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.92629675700002 meters 0.07359781209107452 Centerline is valid? [True, True] Translation: X:134.83, Y:-23.92, Z:-16.06 [[ 9.86813314e-01 1.42079970e-01 7.75420279e-02 1.34829092e+02] [-1.41919361e-01 9.89848999e-01 -7.60621195e-03 -2.39155775e+01] [-7.78355891e-02 -3.49880384e-03 9.96960069e-01 -1.60563011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.95629675700002 meters 0.0730703955893048 Centerline is valid? [True, True] Translation: X:134.86, Y:-23.92, Z:-16.06 [[ 9.87226680e-01 1.38805282e-01 7.82085384e-02 1.34859058e+02] [-1.38630511e-01 9.90314346e-01 -7.68616391e-03 -2.39197545e+01] [-7.85179177e-02 -3.25410352e-03 9.96907392e-01 -1.60607641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98629675700002 meters 0.07276983476347691 Centerline is valid? [True, True] Translation: X:134.89, Y:-23.92, Z:-16.06 [[ 9.87478162e-01 1.37135115e-01 7.79797444e-02 1.34890948e+02] [-1.36956564e-01 9.90547447e-01 -7.65867378e-03 -2.39234459e+01] [-7.82929098e-02 -3.11706478e-03 9.96925526e-01 -1.60647883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01629675700002 meters 0.07230370541762288 Centerline is valid? [True, True] Translation: X:134.92, Y:-23.93, Z:-16.07 [[ 9.87729936e-01 1.35590238e-01 7.74910413e-02 1.34922795e+02] [-1.35407720e-01 9.90760588e-01 -7.62933391e-03 -2.39276095e+01] [-7.78095329e-02 -2.95716375e-03 9.96963857e-01 -1.60682347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04629675700002 meters 0.0710211532322934 Centerline is valid? [True, True] Translation: X:134.95, Y:-23.93, Z:-16.07 [[ 9.88178368e-01 1.32008165e-01 7.79574092e-02 1.34954269e+02] [-1.31810341e-01 9.91245043e-01 -7.70051493e-03 -2.39347402e+01] [-7.82914264e-02 -2.66611039e-03 9.96926950e-01 -1.60699181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07629675700002 meters 0.07065441611593935 Centerline is valid? [True, True] Translation: X:134.99, Y:-23.94, Z:-16.07 [[ 9.88384237e-01 1.30692224e-01 7.75638016e-02 1.34986616e+02] [-1.30492117e-01 9.91419720e-01 -7.66461341e-03 -2.39386912e+01] [-7.78999878e-02 -2.54588162e-03 9.96957928e-01 -1.60721215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10629675700002 meters 0.07051586614186402 Centerline is valid? [True, True] Translation: X:135.02, Y:-23.94, Z:-16.08 [[ 9.88676637e-01 1.29005515e-01 7.66556185e-02 1.35016865e+02] [-1.28804858e-01 9.91641014e-01 -7.57681368e-03 -2.39416631e+01] [-7.69923060e-02 -2.38259740e-03 9.97028840e-01 -1.60762395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.13629675700003 meters 0.07062385252685018 Centerline is valid? [True, True] Translation: X:135.05, Y:-23.94, Z:-16.08 [[ 9.88680022e-01 1.29273704e-01 7.61585378e-02 1.35048335e+02] [-1.29075159e-01 9.91606115e-01 -7.54431676e-03 -2.39438842e+01] [-7.64945535e-02 -2.37126010e-03 9.97067179e-01 -1.60788615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.16629675700003 meters 0.0708926653493202 Centerline is valid? [True, True] Translation: X:135.08, Y:-23.94, Z:-16.08 [[ 9.88533000e-01 1.30154513e-01 7.65657233e-02 1.35079963e+02] [-1.29955048e-01 9.91490735e-01 -7.60313956e-03 -2.39430589e+01] [-7.69037882e-02 -2.43414790e-03 9.97035547e-01 -1.60834684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.19629675700003 meters 0.07061192973466873 Centerline is valid? [True, True] Translation: X:135.11, Y:-23.95, Z:-16.09 [[ 9.88361299e-01 1.31407412e-01 7.66422511e-02 1.35112184e+02] [-1.31209710e-01 9.91325261e-01 -7.63140083e-03 -2.39461333e+01] [-7.69802223e-02 -2.51362632e-03 9.97029451e-01 -1.60852021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.22629675700003 meters 0.07109549329504158 Centerline is valid? [True, True] Translation: X:135.14, Y:-23.94, Z:-16.09 [[ 9.87923944e-01 1.34135805e-01 7.75491289e-02 1.35142777e+02] [-1.33939673e-01 9.90959193e-01 -7.74863337e-03 -2.39444972e+01] [-7.78873914e-02 -2.73184452e-03 9.96958420e-01 -1.60895039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.25629675700003 meters 0.07076128330358566 Centerline is valid? [True, True] Translation: X:135.17, Y:-23.95, Z:-16.09 [[ 9.87721034e-01 1.35507390e-01 7.77489953e-02 1.35174787e+02] [-1.35314808e-01 9.90772232e-01 -7.76443846e-03 -2.39474865e+01] [-7.80836844e-02 -2.85149115e-03 9.96942730e-01 -1.60918143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.28629675700003 meters 0.07169331382390105 Centerline is valid? [True, True] Translation: X:135.21, Y:-23.94, Z:-16.10 [[ 9.87130095e-01 1.39498951e-01 7.81934654e-02 1.35205489e+02] [-1.39314506e-01 9.90217182e-01 -7.83590964e-03 -2.39439574e+01] [-7.85216141e-02 -3.15842178e-03 9.96907408e-01 -1.60964325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.31629675700003 meters 0.07214854051767158 Centerline is valid? [True, True] Translation: X:135.24, Y:-23.94, Z:-16.10 [[ 9.86841754e-01 1.41703198e-01 7.78688350e-02 1.35237628e+02] [-1.41527147e-01 9.89903621e-01 -7.80300430e-03 -2.39439593e+01] [-7.81883524e-02 -3.32022363e-03 9.96933076e-01 -1.61011536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.34629675700003 meters 0.07327615179285672 Centerline is valid? [True, True] Translation: X:135.27, Y:-23.94, Z:-16.11 [[ 9.86279422e-01 1.45840332e-01 7.73530845e-02 1.35268190e+02] [-1.45678713e-01 9.89301530e-01 -7.75853361e-03 -2.39395603e+01] [-7.76570320e-02 -3.61661574e-03 9.96973573e-01 -1.61061642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.37629675700003 meters 0.07355288342870803 Centerline is valid? [True, True] Translation: X:135.30, Y:-23.94, Z:-16.11 [[ 9.85953680e-01 1.47853038e-01 7.76841096e-02 1.35299959e+02] [-1.47696287e-01 9.89002074e-01 -7.79135192e-03 -2.39405965e+01] [-7.79817205e-02 -3.79174243e-03 9.96947578e-01 -1.61095359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.40629675700004 meters 0.07451920556947207 Centerline is valid? [True, True] Translation: X:135.33, Y:-23.94, Z:-16.11 [[ 9.85424279e-01 1.50925783e-01 7.84882057e-02 1.35330657e+02] [-1.50775134e-01 9.88536708e-01 -7.87632889e-03 -2.39380027e+01] [-7.87772135e-02 -4.07254398e-03 9.96883928e-01 -1.61134033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.43629675700004 meters 0.07378700558612769 Centerline is valid? [True, True] Translation: X:135.36, Y:-23.94, Z:-16.11 [[ 9.85284906e-01 1.51875462e-01 7.84059831e-02 1.35362229e+02] [-1.51727777e-01 9.88390968e-01 -7.87243385e-03 -2.39425564e+01] [-7.86913951e-02 -4.13977532e-03 9.96890429e-01 -1.61144878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.466296757 meters 0.07440468423009042 Centerline is valid? [True, True] Translation: X:135.39, Y:-23.94, Z:-16.12 [[ 9.85017009e-01 1.52508798e-01 8.05143384e-02 1.35393493e+02] [-1.52353211e-01 9.88292847e-01 -8.10849734e-03 -2.39425746e+01] [-8.08083619e-02 -4.27961020e-03 9.96720469e-01 -1.61182482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.496296757 meters 0.07488770474513759 Centerline is valid? [True, True] Translation: X:135.42, Y:-23.94, Z:-16.12 [[ 9.84921163e-01 1.52615715e-01 8.14785036e-02 1.35424370e+02] [-1.52455980e-01 9.88276119e-01 -8.21499228e-03 -2.39427940e+01] [-8.17769963e-02 -4.33076540e-03 9.96641243e-01 -1.61221240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.526296757 meters 0.07446858906907121 Centerline is valid? [True, True] Translation: X:135.46, Y:-23.95, Z:-16.12 [[ 9.84909738e-01 1.51792681e-01 8.31371720e-02 1.35455409e+02] [-1.51621369e-01 9.88402892e-01 -8.40733740e-03 -2.39461055e+01] [-8.34491936e-02 -4.32490333e-03 9.96502648e-01 -1.61247716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.556296757 meters 0.0735056860008624 Centerline is valid? [True, True] Translation: X:135.49, Y:-23.95, Z:-16.13 [[ 9.85118333e-01 1.48993080e-01 8.56909088e-02 1.35486076e+02] [-1.48800270e-01 9.88829272e-01 -8.66888819e-03 -2.39509137e+01] [-8.60252834e-02 -4.21094971e-03 9.96284055e-01 -1.61261674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.586296757 meters 0.07293801769718325 Centerline is valid? [True, True] Translation: X:135.52, Y:-23.96, Z:-16.13 [[ 9.85368914e-01 1.47170622e-01 8.59587824e-02 1.35517339e+02] [-1.46969572e-01 9.89102775e-01 -8.69745890e-03 -2.39563665e+01] [-8.63020806e-02 -4.06311984e-03 9.96260730e-01 -1.61285719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.61629675700001 meters 0.0721202818702799 Centerline is valid? [True, True] Translation: X:135.55, Y:-23.96, Z:-16.13 [[ 9.86087290e-01 1.42093828e-01 8.62623895e-02 1.35546894e+02] [-1.41871335e-01 9.89846559e-01 -8.73574746e-03 -2.39635551e+01] [-8.66278252e-02 -3.62395083e-03 9.96234153e-01 -1.61317132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.64629675700002 meters 0.07093468232770991 Centerline is valid? [True, True] Translation: X:135.58, Y:-23.97, Z:-16.14 [[ 9.86842429e-01 1.36695473e-01 8.63502601e-02 1.35577497e+02] [-1.36451887e-01 9.90608100e-01 -8.74497941e-03 -2.39713255e+01] [-8.67346662e-02 -3.15273919e-03 9.96226459e-01 -1.61357302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.67629675700002 meters 0.07039370937863124 Centerline is valid? [True, True] Translation: X:135.61, Y:-23.98, Z:-16.14 [[ 9.87179850e-01 1.34657240e-01 8.56934775e-02 1.35609555e+02] [-1.34409711e-01 9.90887844e-01 -8.67818646e-03 -2.39766618e+01] [-8.60812058e-02 -2.95110471e-03 9.96283753e-01 -1.61397734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.70629675700002 meters 0.07039718229646079 Centerline is valid? [True, True] Translation: X:135.64, Y:-23.98, Z:-16.14 [[ 9.87451912e-01 1.32669608e-01 8.56591921e-02 1.35639887e+02] [-1.32414035e-01 9.91156453e-01 -8.68378278e-03 -2.39796001e+01] [-8.60537351e-02 -2.76766135e-03 9.96286653e-01 -1.61445521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73629675700002 meters 0.06968013286941534 Centerline is valid? [True, True] Translation: X:135.67, Y:-23.99, Z:-16.15 [[ 9.87983310e-01 1.29094109e-01 8.49922950e-02 1.35670208e+02] [-1.28827277e-01 9.91629410e-01 -8.63978959e-03 -2.39879254e+01] [-8.53962053e-02 -2.41335801e-03 9.96344149e-01 -1.61465894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76629675700002 meters 0.06929761427720697 Centerline is valid? [True, True] Translation: X:135.70, Y:-23.99, Z:-16.15 [[ 9.88162786e-01 1.27163501e-01 8.58123109e-02 1.35700918e+02] [-1.26884373e-01 9.91879172e-01 -8.72150171e-03 -2.39917121e+01] [-8.62245005e-02 -2.26997784e-03 9.96273147e-01 -1.61498969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79629675700002 meters 0.0693555481498455 Centerline is valid? [True, True] Translation: X:135.73, Y:-23.99, Z:-16.15 [[ 9.88095180e-01 1.27073124e-01 8.67198709e-02 1.35731394e+02] [-1.26785988e-01 9.91890762e-01 -8.83343543e-03 -2.39938288e+01] [-8.71391310e-02 -2.26658950e-03 9.96193573e-01 -1.61539974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82629675700002 meters 0.06897472340294568 Centerline is valid? [True, True] Translation: X:135.76, Y:-24.00, Z:-16.16 [[ 9.87870063e-01 1.27868652e-01 8.81041748e-02 1.35763052e+02] [-1.27573688e-01 9.91788315e-01 -8.99398910e-03 -2.39951628e+01] [-8.85307404e-02 -2.35488191e-03 9.96070661e-01 -1.61572549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85629675700002 meters 0.06911638081565746 Centerline is valid? [True, True] Translation: X:135.79, Y:-24.00, Z:-16.16 [[ 9.87648039e-01 1.29555746e-01 8.81286539e-02 1.35794508e+02] [-1.29265382e-01 9.91569026e-01 -9.01821653e-03 -2.39970574e+01] [-8.85540052e-02 -2.48516025e-03 9.96068277e-01 -1.61606082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.88629675700003 meters 0.06978739572818657 Centerline is valid? [True, True] Translation: X:135.83, Y:-24.00, Z:-16.17 [[ 9.87514502e-01 1.30527795e-01 8.81907252e-02 1.35825755e+02] [-1.30238898e-01 9.91441366e-01 -9.04692540e-03 -2.39964389e+01] [-8.86168083e-02 -2.55189284e-03 9.96062523e-01 -1.61658091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.91629675700003 meters 0.0702529712083022 Centerline is valid? [True, True] Translation: X:135.86, Y:-24.00, Z:-16.17 [[ 9.87086709e-01 1.33820889e-01 8.80442995e-02 1.35857734e+02] [-1.33543909e-01 9.91001525e-01 -9.05552925e-03 -2.39978908e+01] [-8.84638540e-02 -2.81918732e-03 9.96075398e-01 -1.61686980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.94629675700003 meters 0.07030444816075604 Centerline is valid? [True, True] Translation: X:135.89, Y:-24.00, Z:-16.17 [[ 9.86732571e-01 1.37084880e-01 8.69860326e-02 1.35889144e+02] [-1.36826620e-01 9.90554553e-01 -8.95281289e-03 -2.39993311e+01] [-8.73917060e-02 -3.06797272e-03 9.96169302e-01 -1.61709701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.97629675700003 meters 0.07110429388598044 Centerline is valid? [True, True] Translation: X:135.92, Y:-24.00, Z:-16.18 [[ 9.86406446e-01 1.39356656e-01 8.70749454e-02 1.35919995e+02] [-1.39106647e-01 9.90236848e-01 -8.96242909e-03 -2.39978155e+01] [-8.74737936e-02 -3.27210587e-03 9.96161447e-01 -1.61767343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.00629675700003 meters 0.07116046077597152 Centerline is valid? [True, True] Translation: X:135.95, Y:-24.00, Z:-16.18 [[ 9.86072861e-01 1.41457385e-01 8.74649742e-02 1.35951255e+02] [-1.41211581e-01 9.89938321e-01 -9.02279746e-03 -2.39999469e+01] [-8.78612710e-02 -3.45393156e-03 9.96126733e-01 -1.61802045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.03629675700003 meters 0.07146120162839775 Centerline is valid? [True, True] Translation: X:135.98, Y:-24.00, Z:-16.18 [[ 9.85603785e-01 1.44931256e-01 8.70638316e-02 1.35981797e+02] [-1.44699097e-01 9.89434725e-01 -9.00535233e-03 -2.40008950e+01] [-8.74491353e-02 -3.72234845e-03 9.96162031e-01 -1.61841194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.06629675700003 meters 0.07174099692237558 Centerline is valid? [True, True] Translation: X:136.01, Y:-24.00, Z:-16.19 [[ 9.85382562e-01 1.46462997e-01 8.70045823e-02 1.36013153e+02] [-1.46237130e-01 9.89208634e-01 -8.99887694e-03 -2.40030854e+01] [-8.73836866e-02 -3.85596396e-03 9.96167267e-01 -1.61883035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.09629675700003 meters 0.07237582982105202 Centerline is valid? [True, True] Translation: X:136.04, Y:-24.00, Z:-16.19 [[ 9.85240390e-01 1.47249226e-01 8.72871088e-02 1.36044436e+02] [-1.47023219e-01 9.89091658e-01 -9.04793223e-03 -2.40042723e+01] [-8.76672522e-02 -3.91884345e-03 9.96142106e-01 -1.61924994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.12629675700003 meters 0.0723435551437818 Centerline is valid? [True, True] Translation: X:136.08, Y:-24.01, Z:-16.20 [[ 9.85092134e-01 1.47485397e-01 8.85524986e-02 1.36076001e+02] [-1.47251760e-01 9.89056244e-01 -9.20134298e-03 -2.40077325e+01] [-8.89404655e-02 -3.97534069e-03 9.96029011e-01 -1.61958565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.15629675700004 meters 0.07235053779924022 Centerline is valid? [True, True] Translation: X:136.11, Y:-24.01, Z:-16.20 [[ 9.85141119e-01 1.46517497e-01 8.96080303e-02 1.36106493e+02] [-1.46272218e-01 9.89200343e-01 -9.33378414e-03 -2.40104168e+01] [-9.00078570e-02 -3.91207074e-03 9.95933372e-01 -1.61997114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.18629675700004 meters 0.07206841590381531 Centerline is valid? [True, True] Translation: X:136.14, Y:-24.01, Z:-16.20 [[ 9.85206262e-01 1.45565666e-01 9.04392559e-02 1.36138113e+02] [-1.45309976e-01 9.89341137e-01 -9.44062761e-03 -2.40147950e+01] [-9.08495075e-02 -3.84076066e-03 9.95857226e-01 -1.62025111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.216296757 meters 0.0708942978863394 Centerline is valid? [True, True] Translation: X:136.17, Y:-24.02, Z:-16.20 [[ 9.85407909e-01 1.42084583e-01 9.37188574e-02 1.36168543e+02] [-1.41791797e-01 9.89847894e-01 -9.80983988e-03 -2.40241129e+01] [-9.41612407e-02 -3.62187137e-03 9.95550372e-01 -1.62033073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.246296757 meters 0.07143601517738939 Centerline is valid? [True, True] Translation: X:136.20, Y:-24.03, Z:-16.21 [[ 9.85479794e-01 1.40735801e-01 9.49895214e-02 1.36199825e+02] [-1.40428816e-01 9.90040855e-01 -9.94248550e-03 -2.40260740e+01] [-9.54427707e-02 -3.54114743e-03 9.95428620e-01 -1.62071406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.276296757 meters 0.0701235504643874 Centerline is valid? [True, True] Translation: X:136.23, Y:-24.03, Z:-16.21 [[ 9.85607414e-01 1.38410051e-01 9.70602037e-02 1.36230842e+02] [-1.38075686e-01 9.90369301e-01 -1.01858968e-02 -2.40339706e+01] [-9.75352766e-02 -3.36235882e-03 9.95226388e-01 -1.62089906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.306296757 meters 0.06929314932843654 Centerline is valid? [True, True] Translation: X:136.26, Y:-24.04, Z:-16.21 [[ 9.85607071e-01 1.37996951e-01 9.76501070e-02 1.36262418e+02] [-1.37656238e-01 9.90427024e-01 -1.02503577e-02 -2.40401233e+01] [-9.81298230e-02 -3.33932127e-03 9.95168019e-01 -1.62120536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.336296757 meters 0.06976908160276304 Centerline is valid? [True, True] Translation: X:136.29, Y:-24.04, Z:-16.22 [[ 9.85661598e-01 1.37409151e-01 9.79282416e-02 1.36293444e+02] [-1.37061117e-01 9.90508992e-01 -1.03046909e-02 -2.40400524e+01] [-9.84147627e-02 -3.26521600e-03 9.95140127e-01 -1.62183435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.36629675700001 meters 0.0694695117024305 Centerline is valid? [True, True] Translation: X:136.32, Y:-24.05, Z:-16.22 [[ 9.85544549e-01 1.38135432e-01 9.80843704e-02 1.36324827e+02] [-1.37787646e-01 9.90407782e-01 -1.03435860e-02 -2.40456664e+01] [-9.85723395e-02 -3.32074969e-03 9.95124347e-01 -1.62214438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.39629675700002 meters 0.06927864653998488 Centerline is valid? [True, True] Translation: X:136.36, Y:-24.05, Z:-16.23 [[ 9.85578455e-01 1.38573735e-01 9.71206902e-02 1.36356164e+02] [-1.38232521e-01 9.90346596e-01 -1.02659099e-02 -2.40507429e+01] [-9.76057305e-02 -3.30737828e-03 9.95219666e-01 -1.62251808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.42629675700002 meters 0.06936861343040873 Centerline is valid? [True, True] Translation: X:136.39, Y:-24.05, Z:-16.23 [[ 9.85515851e-01 1.38368333e-01 9.80444403e-02 1.36386928e+02] [-1.38017079e-01 9.90375362e-01 -1.03888511e-02 -2.40533385e+01] [-9.85382861e-02 -3.29342987e-03 9.95127811e-01 -1.62293637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.45629675700002 meters 0.06964313101109468 Centerline is valid? [True, True] Translation: X:136.42, Y:-24.05, Z:-16.23 [[ 9.85458452e-01 1.39246451e-01 9.73759022e-02 1.36417364e+02] [-1.38901991e-01 9.90252141e-01 -1.03409048e-02 -2.40538888e+01] [-9.78666299e-02 -3.33517469e-03 9.95193951e-01 -1.62337514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48629675700002 meters 0.06966987551635745 Centerline is valid? [True, True] Translation: X:136.45, Y:-24.06, Z:-16.24 [[ 9.85248964e-01 1.40554437e-01 9.76162317e-02 1.36448961e+02] [-1.40212852e-01 9.90066922e-01 -1.03848658e-02 -2.40557909e+01] [-9.81062411e-02 -3.45537191e-03 9.95169948e-01 -1.62374873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51629675700002 meters 0.07041713153158712 Centerline is valid? [True, True] Translation: X:136.48, Y:-24.06, Z:-16.24 [[ 9.85009346e-01 1.43615787e-01 9.55567605e-02 1.36478526e+02] [-1.43300349e-01 9.89626772e-01 -1.01912789e-02 -2.40551927e+01] [-9.60291570e-02 -3.65481211e-03 9.95371812e-01 -1.62419744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54629675700002 meters 0.07042316066588584 Centerline is valid? [True, True] Translation: X:136.51, Y:-24.06, Z:-16.25 [[ 9.84800729e-01 1.45235698e-01 9.52581596e-02 1.36510275e+02] [-1.44929207e-01 9.89389807e-01 -1.01653351e-02 -2.40584015e+01] [-9.57238217e-02 -3.79486004e-03 9.95400698e-01 -1.62454187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57629675700002 meters 0.07112811581410866 Centerline is valid? [True, True] Translation: X:136.54, Y:-24.06, Z:-16.25 [[ 9.84585423e-01 1.47510808e-01 9.39792829e-02 1.36541204e+02] [-1.47220585e-01 9.89052603e-01 -1.00522825e-02 -2.40577416e+01] [-9.44332746e-02 -3.93835419e-03 9.95523403e-01 -1.62499363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60629675700002 meters 0.0708956101445624 Centerline is valid? [True, True] Translation: X:136.57, Y:-24.06, Z:-16.25 [[ 9.84383836e-01 1.48970009e-01 9.37891273e-02 1.36573073e+02] [-1.48685551e-01 9.88833425e-01 -1.00530998e-02 -2.40623184e+01] [-9.42394344e-02 -4.04897912e-03 9.95541328e-01 -1.62530493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.63629675700003 meters 0.07194860468787956 Centerline is valid? [True, True] Translation: X:136.60, Y:-24.06, Z:-16.26 [[ 9.84122229e-01 1.50544148e-01 9.40207303e-02 1.36603995e+02] [-1.50263127e-01 9.88594425e-01 -1.01022622e-02 -2.40615301e+01] [-9.44692062e-02 -4.18598811e-03 9.95518984e-01 -1.62580760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.66629675700003 meters 0.07194860468787956 Centerline is valid? [True, True] Translation: X:136.64, Y:-24.07, Z:-16.26 [[ 9.84080322e-01 1.50819242e-01 9.40184889e-02 1.36636024e+02] [-1.50537486e-01 9.88552471e-01 -1.01230758e-02 -2.40650699e+01] [-9.44689642e-02 -4.19138728e-03 9.95518984e-01 -1.62616926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.69629675700003 meters 0.07210266808097943 Centerline is valid? [True, True] Translation: X:136.67, Y:-24.07, Z:-16.26 [[ 9.83960433e-01 1.52182375e-01 9.30719662e-02 1.36667406e+02] [-1.51909807e-01 9.88343284e-01 -1.00480203e-02 -2.40685798e+01] [-9.35161844e-02 -4.25169006e-03 9.95608681e-01 -1.62642460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.72629675700003 meters 0.07238213322346428 Centerline is valid? [True, True] Translation: X:136.70, Y:-24.07, Z:-16.27 [[ 9.83619801e-01 1.53807133e-01 9.39970870e-02 1.36698819e+02] [-1.53534434e-01 9.88090964e-01 -1.01697699e-02 -2.40707728e+01] [-9.44418555e-02 -4.42860249e-03 9.95520529e-01 -1.62675924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.75629675700003 meters 0.07249433130856273 Centerline is valid? [True, True] Translation: X:136.73, Y:-24.07, Z:-16.27 [[ 9.83522662e-01 1.54570521e-01 9.37610111e-02 1.36730141e+02] [-1.54300645e-01 9.87971648e-01 -1.01653211e-02 -2.40738355e+01] [-9.42044796e-02 -4.46956087e-03 9.95542836e-01 -1.62713692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.78629675700003 meters 0.07289352837598276 Centerline is valid? [True, True] Translation: X:136.76, Y:-24.08, Z:-16.28 [[ 9.83350825e-01 1.56302690e-01 9.26856252e-02 1.36761217e+02] [-1.56044486e-01 9.87698680e-01 -1.00715317e-02 -2.40765970e+01] [-9.31196772e-02 -4.55923172e-03 9.95644484e-01 -1.62765917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.81629675700003 meters 0.07382497140497635 Centerline is valid? [True, True] Translation: X:136.79, Y:-24.08, Z:-16.28 [[ 9.83241266e-01 1.57764080e-01 9.13625120e-02 1.36792362e+02] [-1.57517571e-01 9.87466074e-01 -9.94829389e-03 -2.40780571e+01] [-9.17868644e-02 -4.60962787e-03 9.95768007e-01 -1.62805619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.84629675700003 meters 0.07432739074038429 Centerline is valid? [True, True] Translation: X:136.82, Y:-24.08, Z:-16.29 [[ 9.83160418e-01 1.58746521e-01 9.05269788e-02 1.36822816e+02] [-1.58506773e-01 9.87308479e-01 -9.87772551e-03 -2.40797067e+01] [-9.09461083e-02 -4.63775056e-03 9.95845016e-01 -1.62852581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.87629675700003 meters 0.07256297054725791 Centerline is valid? [True, True] Translation: X:136.85, Y:-24.09, Z:-16.28 [[ 9.82970607e-01 1.59440820e-01 9.13641688e-02 1.36854564e+02] [-1.59197827e-01 9.87196173e-01 -9.98840697e-03 -2.40900115e+01] [-9.17869175e-02 -4.72666672e-03 9.95767453e-01 -1.62847977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.90629675700004 meters 0.07299635902920172 Centerline is valid? [True, True] Translation: X:136.89, Y:-24.09, Z:-16.29 [[ 9.82825786e-01 1.59597359e-01 9.26399304e-02 1.36885190e+02] [-1.59345425e-01 9.87170629e-01 -1.01579551e-02 -2.40924373e+01] [-9.30726011e-02 -4.77824890e-03 9.95647859e-01 -1.62862910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.93629675700004 meters 0.0728621181516857 Centerline is valid? [True, True] Translation: X:136.92, Y:-24.10, Z:-16.29 [[ 9.82771043e-01 1.60304366e-01 9.19977594e-02 1.36916777e+02] [-1.60057951e-01 9.87055960e-01 -1.00987374e-02 -2.40963139e+01] [-9.24258084e-02 -4.80022620e-03 9.95708003e-01 -1.62888078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.966296757 meters 0.07252856656577021 Centerline is valid? [True, True] Translation: X:136.95, Y:-24.10, Z:-16.29 [[ 9.82669705e-01 1.60939271e-01 9.19717418e-02 1.36948133e+02] [-1.60693611e-01 9.86952465e-01 -1.01190608e-02 -2.41001475e+01] [-9.24002916e-02 -4.83557677e-03 9.95710200e-01 -1.62920431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.996296757 meters 0.07296552548053747 Centerline is valid? [True, True] Translation: X:136.98, Y:-24.10, Z:-16.30 [[ 9.82581708e-01 1.62148864e-01 9.07795880e-02 1.36979987e+02] [-1.61912238e-01 9.86754347e-01 -1.00142848e-02 -2.41019001e+01] [-9.12009580e-02 -4.85847319e-03 9.95820657e-01 -1.62973182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.026296757 meters 0.07465449425077153 Centerline is valid? [True, True] Translation: X:137.01, Y:-24.10, Z:-16.30 [[ 9.82731216e-01 1.62735520e-01 8.80710395e-02 1.37010503e+02] [-1.62514895e-01 9.86658233e-01 -9.71806402e-03 -2.41006724e+01] [-8.84774904e-02 -4.76261088e-03 9.96066791e-01 -1.63037764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.056296757 meters 0.07452069121763845 Centerline is valid? [True, True] Translation: X:137.04, Y:-24.10, Z:-16.31 [[ 9.82745625e-01 1.62810699e-01 8.77707962e-02 1.37043213e+02] [-1.62590165e-01 9.86645968e-01 -9.70421654e-03 -2.41047725e+01] [-8.81786525e-02 -4.73389187e-03 9.96093427e-01 -1.63072809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.086296757 meters 0.07396250188279212 Centerline is valid? [True, True] Translation: X:137.08, Y:-24.11, Z:-16.31 [[ 9.82738395e-01 1.63016301e-01 8.74696135e-02 1.37075241e+02] [-1.62795949e-01 9.86612124e-01 -9.69513247e-03 -2.41092834e+01] [-8.78790458e-02 -4.71191978e-03 9.96120008e-01 -1.63100598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.11629675700001 meters 0.07658200722890565 Centerline is valid? [True, True] Translation: X:137.11, Y:-24.10, Z:-16.32 [[ 9.82758916e-01 1.62325920e-01 8.85167163e-02 1.37107058e+02] [-1.62095163e-01 9.86726096e-01 -9.83717812e-03 -2.41037350e+01] [-8.89385828e-02 -4.68055701e-03 9.96026115e-01 -1.63167764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.14629675700002 meters 0.07338873834597394 Centerline is valid? [True, True] Translation: X:137.14, Y:-24.12, Z:-16.32 [[ 9.82968993e-01 1.61378932e-01 8.79135933e-02 1.37138807e+02] [-1.61145344e-01 9.86882080e-01 -9.79483384e-03 -2.41154811e+01] [-8.83410297e-02 -4.53884832e-03 9.96079947e-01 -1.63163400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.17629675700002 meters 0.07356294467860129 Centerline is valid? [True, True] Translation: X:137.17, Y:-24.12, Z:-16.32 [[ 9.83024814e-01 1.60955393e-01 8.80657464e-02 1.37170307e+02] [-1.60718923e-01 9.86951403e-01 -9.81609680e-03 -2.41178986e+01] [-8.84965657e-02 -4.50436516e-03 9.96066297e-01 -1.63197093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.20629675700002 meters 0.07352672407682208 Centerline is valid? [True, True] Translation: X:137.20, Y:-24.12, Z:-16.32 [[ 9.83260320e-01 1.60504567e-01 8.62405162e-02 1.37201725e+02] [-1.60274329e-01 9.87025508e-01 -9.63252943e-03 -2.41216385e+01] [-8.66676543e-02 -4.35085687e-03 9.96227779e-01 -1.63241042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23629675700002 meters 0.07373585971186915 Centerline is valid? [True, True] Translation: X:137.23, Y:-24.13, Z:-16.33 [[ 9.83501592e-01 1.60233657e-01 8.39630509e-02 1.37232095e+02] [-1.60012565e-01 9.87070219e-01 -9.40007049e-03 -2.41254144e+01] [-8.43836348e-02 -4.19015888e-03 9.96424530e-01 -1.63281900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26629675700002 meters 0.07368037388522852 Centerline is valid? [True, True] Translation: X:137.26, Y:-24.13, Z:-16.33 [[ 9.83727742e-01 1.59163736e-01 8.33464785e-02 1.37264302e+02] [-1.58940206e-01 9.87243907e-01 -9.35299745e-03 -2.41283518e+01] [-8.37719611e-02 -4.04630339e-03 9.96476736e-01 -1.63323500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29629675700002 meters 0.07199184109664639 Centerline is valid? [True, True] Translation: X:137.30, Y:-24.14, Z:-16.33 [[ 9.83850565e-01 1.59112572e-01 8.19832677e-02 1.37295399e+02] [-1.58895935e-01 9.87252451e-01 -9.20213966e-03 -2.41368344e+01] [-8.24023581e-02 -3.97327765e-03 9.96591222e-01 -1.63343877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32629675700002 meters 0.07172502609583915 Centerline is valid? [True, True] Translation: X:137.33, Y:-24.14, Z:-16.34 [[ 9.84187801e-01 1.56630158e-01 8.27125520e-02 1.37325404e+02] [-1.56398702e-01 9.87650120e-01 -9.31054674e-03 -2.41410074e+01] [-8.31493744e-02 -3.77280929e-03 9.96529953e-01 -1.63383586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35629675700002 meters 0.07172540662691329 Centerline is valid? [True, True] Translation: X:137.36, Y:-24.15, Z:-16.34 [[ 9.84299234e-01 1.55737690e-01 8.30709895e-02 1.37357001e+02] [-1.55501294e-01 9.87791456e-01 -9.34809717e-03 -2.41458926e+01] [-8.35126648e-02 -3.71632144e-03 9.96499786e-01 -1.63422348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.38629675700003 meters 0.07139088907188865 Centerline is valid? [True, True] Translation: X:137.39, Y:-24.15, Z:-16.35 [[ 9.84416439e-01 1.55034721e-01 8.29970477e-02 1.37388719e+02] [-1.54794559e-01 9.87902340e-01 -9.36003260e-03 -2.41512700e+01] [-8.34441078e-02 -3.63332148e-03 9.96505835e-01 -1.63459871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.41629675700003 meters 0.07153439792640616 Centerline is valid? [True, True] Translation: X:137.42, Y:-24.16, Z:-16.35 [[ 9.84745861e-01 1.53444021e-01 8.20397571e-02 1.37419580e+02] [-1.53202226e-01 9.88151360e-01 -9.27184213e-03 -2.41565689e+01] [-8.24904063e-02 -3.43826529e-03 9.96585928e-01 -1.63512144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.44629675700003 meters 0.07151437685611511 Centerline is valid? [True, True] Translation: X:137.45, Y:-24.16, Z:-16.36 [[ 9.84851041e-01 1.52873013e-01 8.18429551e-02 1.37451063e+02] [-1.52628419e-01 9.88240135e-01 -9.27373628e-03 -2.41612418e+01] [-8.22981970e-02 -3.35831202e-03 9.96602091e-01 -1.63556469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.47629675700003 meters 0.07049077406320023 Centerline is valid? [True, True] Translation: X:137.48, Y:-24.17, Z:-16.36 [[ 9.84877698e-01 1.52688494e-01 8.18666261e-02 1.37482546e+02] [-1.52442927e-01 9.88268718e-01 -9.27879291e-03 -2.41687622e+01] [-8.23229905e-02 -3.34151188e-03 9.96600100e-01 -1.63571340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.50629675700003 meters 0.07068988653766554 Centerline is valid? [True, True] Translation: X:137.51, Y:-24.17, Z:-16.36 [[ 9.84601583e-01 1.53330637e-01 8.39609288e-02 1.37513318e+02] [-1.53072796e-01 9.88168882e-01 -9.53832585e-03 -2.41719265e+01] [-8.44300948e-02 -3.46068341e-03 9.96423395e-01 -1.63609855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.53629675700003 meters 0.07143107512242752 Centerline is valid? [True, True] Translation: X:137.54, Y:-24.17, Z:-16.37 [[ 9.84428903e-01 1.54287225e-01 8.42329275e-02 1.37543681e+02] [-1.54029335e-01 9.88019723e-01 -9.59116716e-03 -2.41730367e+01] [-8.47035883e-02 -3.53251965e-03 9.96399931e-01 -1.63657336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.56629675700003 meters 0.07039835859257862 Centerline is valid? [True, True] Translation: X:137.57, Y:-24.18, Z:-16.37 [[ 9.83903573e-01 1.55855164e-01 8.74238345e-02 1.37574961e+02] [-1.55582824e-01 9.87772612e-01 -9.96257572e-03 -2.41795668e+01] [-8.79075882e-02 -3.79943319e-03 9.96121388e-01 -1.63658270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.59629675700003 meters 0.07081675730559962 Centerline is valid? [True, True] Translation: X:137.61, Y:-24.18, Z:-16.37 [[ 9.83819836e-01 1.56241828e-01 8.76756640e-02 1.37607021e+02] [-1.55967537e-01 9.87711431e-01 -1.00128442e-02 -2.41814120e+01] [-8.81626806e-02 -3.82372262e-03 9.96098751e-01 -1.63696967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.62629675700003 meters 0.07248756367961466 Centerline is valid? [True, True] Translation: X:137.64, Y:-24.18, Z:-16.38 [[ 9.83609932e-01 1.57432448e-01 8.79006612e-02 1.37638226e+02] [-1.57159133e-01 9.87522001e-01 -1.00650246e-02 -2.41794152e+01] [-8.83883983e-02 -3.91433355e-03 9.96078395e-01 -1.63758225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.65629675700004 meters 0.07181519668639091 Centerline is valid? [True, True] Translation: X:137.67, Y:-24.18, Z:-16.38 [[ 9.83391205e-01 1.58615215e-01 8.82210333e-02 1.37669308e+02] [-1.58343808e-01 9.87332266e-01 -1.01111021e-02 -2.41840913e+01] [-8.87072474e-02 -4.02608542e-03 9.96049605e-01 -1.63788871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.68629675700004 meters 0.07186853543625452 Centerline is valid? [True, True] Translation: X:137.70, Y:-24.19, Z:-16.38 [[ 9.83103937e-01 1.60081525e-01 8.87724814e-02 1.37701401e+02] [-1.59810899e-01 9.87095010e-01 -1.01940472e-02 -2.41873881e+01] [-8.92587520e-02 -4.16500206e-03 9.95999763e-01 -1.63813995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.716296757 meters 0.07276199922512772 Centerline is valid? [True, True] Translation: X:137.73, Y:-24.19, Z:-16.39 [[ 9.82837982e-01 1.60902294e-01 9.02216897e-02 1.37732920e+02] [-1.60624164e-01 9.86961029e-01 -1.03829207e-02 -2.41872989e+01] [-9.07159275e-02 -4.28705473e-03 9.95867582e-01 -1.63862637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.746296757 meters 0.07342231976928831 Centerline is valid? [True, True] Translation: X:137.77, Y:-24.19, Z:-16.39 [[ 9.82596034e-01 1.62313638e-01 9.03289410e-02 1.37765241e+02] [-1.62038549e-01 9.86729414e-01 -1.04197556e-02 -2.41888103e+01] [-9.08214915e-02 -4.39836006e-03 9.95857475e-01 -1.63893452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.776296757 meters 0.07302507090163551 Centerline is valid? [True, True] Translation: X:137.80, Y:-24.19, Z:-16.39 [[ 9.82336342e-01 1.63939701e-01 9.02168850e-02 1.37796304e+02] [-1.63670136e-01 9.86460000e-01 -1.04285810e-02 -2.41925213e+01] [-9.07050068e-02 -4.52143576e-03 9.95867541e-01 -1.63936121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.806296757 meters 0.07391401162392199 Centerline is valid? [True, True] Translation: X:137.83, Y:-24.19, Z:-16.40 [[ 9.82318503e-01 1.65437013e-01 8.76410520e-02 1.37825731e+02] [-1.65186534e-01 9.86210077e-01 -1.01534737e-02 -2.41924008e+01] [-8.81122490e-02 -4.50317649e-03 9.96100373e-01 -1.63993706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.836296757 meters 0.07301406829402772 Centerline is valid? [True, True] Translation: X:137.86, Y:-24.20, Z:-16.40 [[ 9.82287076e-01 1.66239219e-01 8.64674689e-02 1.37856579e+02] [-1.65998143e-01 9.86075143e-01 -1.00214706e-02 -2.41988284e+01] [-8.69293832e-02 -4.50947816e-03 9.96204270e-01 -1.64022379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.86629675700001 meters 0.07280830638128424 Centerline is valid? [True, True] Translation: X:137.89, Y:-24.20, Z:-16.41 [[ 9.82184669e-01 1.66477770e-01 8.71689638e-02 1.37887884e+02] [-1.66231932e-01 9.86034721e-01 -1.01229456e-02 -2.42028277e+01] [-8.76368704e-02 -4.54766325e-03 9.96142107e-01 -1.64057746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.89629675700002 meters 0.07421477311402733 Centerline is valid? [True, True] Translation: X:137.92, Y:-24.20, Z:-16.41 [[ 9.82359362e-01 1.65594065e-01 8.68831937e-02 1.37919206e+02] [-1.65344470e-01 9.86184040e-01 -1.01116878e-02 -2.42022069e+01] [-8.73572544e-02 -4.43234441e-03 9.96167187e-01 -1.64118451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.92629675700002 meters 0.07229921638836828 Centerline is valid? [True, True] Translation: X:137.95, Y:-24.21, Z:-16.41 [[ 9.82414078e-01 1.65051688e-01 8.72955891e-02 1.37950762e+02] [-1.64795661e-01 9.86275178e-01 -1.01815689e-02 -2.42122207e+01] [-8.77779578e-02 -4.38341766e-03 9.96130421e-01 -1.64123744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.95629675700002 meters 0.07556617856133331 Centerline is valid? [True, True] Translation: X:137.98, Y:-24.21, Z:-16.42 [[ 9.82813514e-01 1.62877518e-01 8.68821652e-02 1.37981267e+02] [-1.62613037e-01 9.86637602e-01 -1.01608131e-02 -2.42054726e+01] [-8.73761792e-02 -4.14198829e-03 9.96166777e-01 -1.64222010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98629675700002 meters 0.07333552324641351 Centerline is valid? [True, True] Translation: X:138.01, Y:-24.22, Z:-16.42 [[ 9.83031734e-01 1.61113569e-01 8.76985069e-02 1.38011724e+02] [-1.60836999e-01 9.86927679e-01 -1.02574993e-02 -2.42154741e+01] [-8.82047062e-02 -4.02171735e-03 9.96094250e-01 -1.64223275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01629675700002 meters 0.07236706368941102 Centerline is valid? [True, True] Translation: X:138.04, Y:-24.22, Z:-16.42 [[ 9.83079537e-01 1.60655380e-01 8.80026909e-02 1.38043691e+02] [-1.60374897e-01 9.87002486e-01 -1.02949218e-02 -2.42225232e+01] [-8.85128092e-02 -3.99269546e-03 9.96067036e-01 -1.64243403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04629675700002 meters 0.07187487665949067 Centerline is valid? [True, True] Translation: X:138.08, Y:-24.23, Z:-16.43 [[ 9.83153405e-01 1.59871072e-01 8.86037431e-02 1.38075286e+02] [-1.59583175e-01 9.87130022e-01 -1.03696893e-02 -2.42278195e+01] [-8.91212282e-02 -3.94467134e-03 9.96012975e-01 -1.64264855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07629675700002 meters 0.07102497650563323 Centerline is valid? [True, True] Translation: X:138.11, Y:-24.23, Z:-16.43 [[ 9.83421050e-01 1.57585390e-01 8.97211448e-02 1.38105777e+02] [-1.57278279e-01 9.87498212e-01 -1.05272874e-02 -2.42345342e+01] [-9.02584168e-02 -3.75843128e-03 9.95911287e-01 -1.64282705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10629675700002 meters 0.07116857745475302 Centerline is valid? [True, True] Translation: X:138.14, Y:-24.24, Z:-16.43 [[ 9.83617759e-01 1.56776193e-01 8.89793785e-02 1.38136560e+02] [-1.56470759e-01 9.87627401e-01 -1.04411490e-02 -2.42369022e+01] [-8.95153960e-02 -3.65257136e-03 9.95978741e-01 -1.64321318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.13629675700003 meters 0.07045104349783185 Centerline is valid? [True, True] Translation: X:138.17, Y:-24.24, Z:-16.43 [[ 9.83924832e-01 1.55640864e-01 8.75662436e-02 1.38167734e+02] [-1.55339699e-01 9.87807569e-01 -1.02851968e-02 -2.42435292e+01] [-8.80993951e-02 -3.48265342e-03 9.96105601e-01 -1.64349216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.16629675700003 meters 0.07041764433660991 Centerline is valid? [True, True] Translation: X:138.20, Y:-24.25, Z:-16.44 [[ 9.83978162e-01 1.55824213e-01 8.66359738e-02 1.38199070e+02] [-1.55528237e-01 9.87778811e-01 -1.01974684e-02 -2.42479064e+01] [-8.71661916e-02 -3.44025403e-03 9.96187844e-01 -1.64382009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.19629675700003 meters 0.0703643991728803 Centerline is valid? [True, True] Translation: X:138.23, Y:-24.25, Z:-16.44 [[ 9.84172010e-01 1.55447197e-01 8.50977328e-02 1.38231696e+02] [-1.55158497e-01 9.87838604e-01 -1.00365964e-02 -2.42509129e+01] [-8.56229863e-02 -3.32589907e-03 9.96322058e-01 -1.64428599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.22629675700003 meters 0.07055198938855663 Centerline is valid? [True, True] Translation: X:138.26, Y:-24.25, Z:-16.45 [[ 9.84172204e-01 1.55633647e-01 8.47539966e-02 1.38263536e+02] [-1.55345817e-01 9.87809321e-01 -1.00211437e-02 -2.42535963e+01] [-8.52804150e-02 -3.30364776e-03 9.96351513e-01 -1.64472842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.25629675700003 meters 0.07084376696642615 Centerline is valid? [True, True] Translation: X:138.30, Y:-24.26, Z:-16.45 [[ 9.84361175e-01 1.55942355e-01 8.19454686e-02 1.38295416e+02] [-1.55672113e-01 9.87760999e-01 -9.71611177e-03 -2.42569310e+01] [-8.24576912e-02 -3.19246109e-03 9.96589453e-01 -1.64517728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.28629675700003 meters 0.07082584778003345 Centerline is valid? [True, True] Translation: X:138.33, Y:-24.26, Z:-16.45 [[ 9.84429441e-01 1.56253681e-01 8.05199511e-02 1.38326895e+02] [-1.55993774e-01 9.87711896e-01 -9.54738598e-03 -2.42609829e+01] [-8.10223278e-02 -3.16188325e-03 9.96707271e-01 -1.64542924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.31629675700003 meters 0.07091764934582054 Centerline is valid? [True, True] Translation: X:138.36, Y:-24.26, Z:-16.46 [[ 9.84402347e-01 1.56843458e-01 7.97003628e-02 1.38358930e+02] [-1.56589128e-01 9.87618428e-01 -9.47027671e-03 -2.42635376e+01] [-8.01988980e-02 -3.15764770e-03 9.96773879e-01 -1.64583801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.34629675700003 meters 0.07083692512345738 Centerline is valid? [True, True] Translation: X:138.39, Y:-24.27, Z:-16.46 [[ 9.84348084e-01 1.57410122e-01 7.92521509e-02 1.38390313e+02] [-1.57158903e-01 9.87528242e-01 -9.43666089e-03 -2.42679857e+01] [-7.97491632e-02 -3.16622202e-03 9.96809935e-01 -1.64606184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.37629675700003 meters 0.07195741555951952 Centerline is valid? [True, True] Translation: X:138.42, Y:-24.27, Z:-16.47 [[ 9.84045958e-01 1.59546462e-01 7.87304223e-02 1.38421354e+02] [-1.59303745e-01 9.87184914e-01 -9.39477351e-03 -2.42673537e+01] [-7.92203881e-02 -3.29716223e-03 9.96851673e-01 -1.64652900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.40629675700004 meters 0.07216788305648897 Centerline is valid? [True, True] Translation: X:138.45, Y:-24.27, Z:-16.47 [[ 9.83787542e-01 1.60938446e-01 7.91257755e-02 1.38452950e+02] [-1.60696342e-01 9.86958559e-01 -9.45983925e-03 -2.42700569e+01] [-7.96163132e-02 -3.40875067e-03 9.96819755e-01 -1.64689522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.43629675700004 meters 0.07288545853598348 Centerline is valid? [True, True] Translation: X:138.48, Y:-24.27, Z:-16.47 [[ 9.83595362e-01 1.62330078e-01 7.86708921e-02 1.38483842e+02] [-1.62093633e-01 9.86730370e-01 -9.42499840e-03 -2.42716087e+01] [-7.91569192e-02 -3.48166596e-03 9.96856088e-01 -1.64723236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.466296757 meters 0.0726732905596519 Centerline is valid? [True, True] Translation: X:138.52, Y:-24.28, Z:-16.47 [[ 9.83336678e-01 1.63905910e-01 7.86373279e-02 1.38515655e+02] [-1.63673341e-01 9.86469444e-01 -9.43792111e-03 -2.42765038e+01] [-7.91202521e-02 -3.59018016e-03 9.96858614e-01 -1.64737783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.496296757 meters 0.07204091205500213 Centerline is valid? [True, True] Translation: X:138.55, Y:-24.28, Z:-16.48 [[ 9.83395978e-01 1.63335433e-01 7.90815240e-02 1.38547063e+02] [-1.63096846e-01 9.86564224e-01 -9.51058963e-03 -2.42838221e+01] [-7.95724186e-02 -3.54527159e-03 9.96822783e-01 -1.64751539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.526296757 meters 0.07195392964638334 Centerline is valid? [True, True] Translation: X:138.58, Y:-24.29, Z:-16.48 [[ 9.83374292e-01 1.63461672e-01 7.90903462e-02 1.38579134e+02] [-1.63221960e-01 9.86543343e-01 -9.53017496e-03 -2.42887707e+01] [-7.95838729e-02 -3.53755230e-03 9.96821896e-01 -1.64791814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.556296757 meters 0.07195392964638334 Centerline is valid? [True, True] Translation: X:138.61, Y:-24.29, Z:-16.48 [[ 9.83327989e-01 1.63741282e-01 7.90876585e-02 1.38611124e+02] [-1.63500686e-01 9.86496973e-01 -9.55241728e-03 -2.42927214e+01] [-7.95838608e-02 -3.53772716e-03 9.96821897e-01 -1.64828018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.586296757 meters 0.07280358511849769 Centerline is valid? [True, True] Translation: X:138.64, Y:-24.30, Z:-16.49 [[ 9.83432016e-01 1.63679155e-01 7.79140827e-02 1.38641574e+02] [-1.63443582e-01 9.86507571e-01 -9.43442434e-03 -2.42951988e+01] [-7.84070510e-02 -3.45644178e-03 9.96915436e-01 -1.64885647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.61629675700001 meters 0.07214744428975665 Centerline is valid? [True, True] Translation: X:138.67, Y:-24.30, Z:-16.49 [[ 9.83490350e-01 1.63234218e-01 7.81109611e-02 1.38673070e+02] [-1.62994672e-01 9.86581444e-01 -9.47580284e-03 -2.43029872e+01] [-7.86096001e-02 -3.41230983e-03 9.96899637e-01 -1.64908591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.64629675700002 meters 0.07291840995304617 Centerline is valid? [True, True] Translation: X:138.70, Y:-24.30, Z:-16.50 [[ 9.83324823e-01 1.64194644e-01 7.81819088e-02 1.38704126e+02] [-1.63955845e-01 9.86421859e-01 -9.50775030e-03 -2.43048698e+01] [-7.86814655e-02 -3.46917401e-03 9.96893772e-01 -1.64959833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.67629675700002 meters 0.07360969987352435 Centerline is valid? [True, True] Translation: X:138.74, Y:-24.31, Z:-16.50 [[ 9.83007734e-01 1.65052107e-01 8.03342788e-02 1.38735070e+02] [-1.64802188e-01 9.86278176e-01 -9.77747162e-03 -2.43056614e+01] [-8.08457383e-02 -3.62793469e-03 9.96720023e-01 -1.65009758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.70629675700002 meters 0.0733179531496547 Centerline is valid? [True, True] Translation: X:138.77, Y:-24.31, Z:-16.50 [[ 9.82940229e-01 1.65226336e-01 8.08007666e-02 1.38767179e+02] [-1.64972096e-01 9.86248961e-01 -9.85872555e-03 -2.43113149e+01] [-8.13185932e-02 -3.63933387e-03 9.96681515e-01 -1.65033458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73629675700002 meters 0.07379265360859757 Centerline is valid? [True, True] Translation: X:138.80, Y:-24.31, Z:-16.51 [[ 9.82945140e-01 1.65132686e-01 8.09323598e-02 1.38797829e+02] [-1.64877048e-01 9.86264664e-01 -9.87788265e-03 -2.43148312e+01] [-8.14518879e-02 -3.63447181e-03 9.96670648e-01 -1.65066623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76629675700002 meters 0.0733523090849883 Centerline is valid? [True, True] Translation: X:138.83, Y:-24.32, Z:-16.51 [[ 9.83073523e-01 1.64906380e-01 7.98268980e-02 1.38829959e+02] [-1.64655607e-01 9.86302836e-01 -9.75940148e-03 -2.43214424e+01] [-8.03428835e-02 -3.54973712e-03 9.96760965e-01 -1.65093741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79629675700002 meters 0.073875779037251 Centerline is valid? [True, True] Translation: X:138.86, Y:-24.32, Z:-16.52 [[ 9.83219298e-01 1.64172106e-01 7.95445247e-02 1.38860498e+02] [-1.63918758e-01 9.86425666e-01 -9.74916516e-03 -2.43230730e+01] [-8.00653018e-02 -3.45327237e-03 9.96783639e-01 -1.65153523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82629675700002 meters 0.07343296980932923 Centerline is valid? [True, True] Translation: X:138.89, Y:-24.33, Z:-16.52 [[ 9.83363780e-01 1.63764293e-01 7.85934672e-02 1.38892453e+02] [-1.63514384e-01 9.86493764e-01 -9.64877173e-03 -2.43280786e+01] [-7.91120896e-02 -3.36290978e-03 9.96860054e-01 -1.65188989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85629675700002 meters 0.07389381194240786 Centerline is valid? [True, True] Translation: X:138.92, Y:-24.33, Z:-16.52 [[ 9.83372867e-01 1.63591887e-01 7.88384310e-02 1.38922779e+02] [-1.63337747e-01 9.86522470e-01 -9.70546737e-03 -2.43310153e+01] [-7.93636194e-02 -3.33319841e-03 9.96840161e-01 -1.65239777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.88629675700003 meters 0.07361077149148239 Centerline is valid? [True, True] Translation: X:138.95, Y:-24.34, Z:-16.53 [[ 9.83544373e-01 1.62328294e-01 7.93094698e-02 1.38954238e+02] [-1.62066379e-01 9.86731478e-01 -9.77136063e-03 -2.43359858e+01] [-7.98433187e-02 -3.24283187e-03 9.96802151e-01 -1.65271315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.91629675700003 meters 0.07338494350873291 Centerline is valid? [True, True] Translation: X:138.99, Y:-24.34, Z:-16.53 [[ 9.83784983e-01 1.61026117e-01 7.89790909e-02 1.38986336e+02] [-1.60760301e-01 9.86945275e-01 -9.75442639e-03 -2.43409989e+01] [-7.95187580e-02 -3.10044423e-03 9.96828548e-01 -1.65300081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.94629675700003 meters 0.07318943463906893 Centerline is valid? [True, True] Translation: X:139.02, Y:-24.34, Z:-16.53 [[ 9.83853262e-01 1.60316083e-01 7.95707986e-02 1.39018510e+02] [-1.60043511e-01 9.87060984e-01 -9.83300726e-03 -2.43449646e+01] [-8.01176199e-02 -3.06055373e-03 9.96780718e-01 -1.65332788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.97629675700003 meters 0.07317459867790128 Centerline is valid? [True, True] Translation: X:139.05, Y:-24.35, Z:-16.54 [[ 9.83852091e-01 1.60025818e-01 8.01673241e-02 1.39050259e+02] [-1.59747595e-01 9.87108109e-01 -9.91398425e-03 -2.43479704e+01] [-8.07203091e-02 -3.05264308e-03 9.96732117e-01 -1.65369491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.00629675700003 meters 0.07369169985375723 Centerline is valid? [True, True] Translation: X:139.08, Y:-24.35, Z:-16.54 [[ 9.83884468e-01 1.59858746e-01 8.01032730e-02 1.39081439e+02] [-1.59578824e-01 9.87135289e-01 -9.92572527e-03 -2.43491273e+01] [-8.06594815e-02 -3.01701917e-03 9.96737150e-01 -1.65424673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.03629675700003 meters 0.07333867795141216 Centerline is valid? [True, True] Translation: X:139.11, Y:-24.35, Z:-16.55 [[ 9.83921566e-01 1.60187642e-01 7.89827330e-02 1.39113106e+02] [-1.59915245e-01 9.87082068e-01 -9.80329243e-03 -2.43546638e+01] [-7.95328057e-02 -2.98487229e-03 9.96827780e-01 -1.65457359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.06629675700003 meters 0.07403223710208094 Centerline is valid? [True, True] Translation: X:139.14, Y:-24.36, Z:-16.55 [[ 9.83814005e-01 1.61126680e-01 7.84104412e-02 1.39144060e+02] [-1.60859693e-01 9.86929113e-01 -9.75115337e-03 -2.43569821e+01] [-7.89567181e-02 -3.01975828e-03 9.96873471e-01 -1.65510078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.09629675700003 meters 0.07456935178184347 Centerline is valid? [True, True] Translation: X:139.18, Y:-24.36, Z:-16.56 [[ 9.83712428e-01 1.62186860e-01 7.74937565e-02 1.39175228e+02] [-1.61928051e-01 9.86755344e-01 -9.65387609e-03 -2.43576523e+01] [-7.80331102e-02 -3.05177504e-03 9.96946097e-01 -1.65562641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.12629675700003 meters 0.07495854809292041 Centerline is valid? [True, True] Translation: X:139.21, Y:-24.36, Z:-16.56 [[ 9.83408146e-01 1.63678316e-01 7.82165407e-02 1.39206785e+02] [-1.63418059e-01 9.86508628e-01 -9.76034517e-03 -2.43598197e+01] [-7.87588492e-02 -3.18359236e-03 9.96888614e-01 -1.65602487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.15629675700004 meters 0.07578896600600758 Centerline is valid? [True, True] Translation: X:139.24, Y:-24.36, Z:-16.56 [[ 9.83147946e-01 1.65579935e-01 7.74816244e-02 1.39237895e+02] [-1.65329012e-01 9.86190897e-01 -9.68675931e-03 -2.43609517e+01] [-7.80156056e-02 -3.28644292e-03 9.96946721e-01 -1.65647723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.18629675700004 meters 0.07433043153513369 Centerline is valid? [True, True] Translation: X:139.27, Y:-24.37, Z:-16.56 [[ 9.82843551e-01 1.67225176e-01 7.78093467e-02 1.39268897e+02] [-1.66975996e-01 9.85912813e-01 -9.74385975e-03 -2.43702377e+01] [-7.83426505e-02 -3.41560340e-03 9.96920640e-01 -1.65630160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.216296757 meters 0.074102304336436 Centerline is valid? [True, True] Translation: X:139.30, Y:-24.38, Z:-16.56 [[ 9.82585719e-01 1.68769290e-01 7.77317890e-02 1.39300530e+02] [-1.68524099e-01 9.85649302e-01 -9.75096071e-03 -2.43760653e+01] [-7.82619463e-02 -3.51852496e-03 9.96926621e-01 -1.65643504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.246296757 meters 0.07450474691675366 Centerline is valid? [True, True] Translation: X:139.33, Y:-24.38, Z:-16.57 [[ 9.82353260e-01 1.69900311e-01 7.82045798e-02 1.39331771e+02] [-1.69653854e-01 9.85454651e-01 -9.83362357e-03 -2.43787990e+01] [-7.87378026e-02 -3.60761622e-03 9.96888832e-01 -1.65682888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.276296757 meters 0.07431575954529711 Centerline is valid? [True, True] Translation: X:139.36, Y:-24.38, Z:-16.57 [[ 9.82345562e-01 1.70589142e-01 7.67889441e-02 1.39363629e+02] [-1.70352679e-01 9.85335729e-01 -9.66777538e-03 -2.43833189e+01] [-7.73121077e-02 -3.58410610e-03 9.97000498e-01 -1.65716809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.306296757 meters 0.07514528468919358 Centerline is valid? [True, True] Translation: X:139.39, Y:-24.38, Z:-16.58 [[ 9.82327293e-01 1.70935913e-01 7.62496051e-02 1.39393932e+02] [-1.70703709e-01 9.85275628e-01 -9.60105918e-03 -2.43842797e+01] [-7.67680433e-02 -3.58470788e-03 9.97042535e-01 -1.65773486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.336296757 meters 0.07548805600539844 Centerline is valid? [True, True] Translation: X:139.43, Y:-24.39, Z:-16.58 [[ 9.82358310e-01 1.71399362e-01 7.47957886e-02 1.39425645e+02] [-1.71176308e-01 9.85195277e-01 -9.43066768e-03 -2.43879797e+01] [-7.53048681e-02 -3.53897216e-03 9.97154277e-01 -1.65813336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.36629675700001 meters 0.07495018262471913 Centerline is valid? [True, True] Translation: X:139.46, Y:-24.39, Z:-16.58 [[ 9.82200613e-01 1.72911635e-01 7.33724877e-02 1.39456395e+02] [-1.72699863e-01 9.84930881e-01 -9.26910699e-03 -2.43945113e+01] [-7.38695654e-02 -3.56729603e-03 9.97261531e-01 -1.65843346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.39629675700002 meters 0.07530239662331936 Centerline is valid? [True, True] Translation: X:139.49, Y:-24.40, Z:-16.59 [[ 9.82005182e-01 1.74242180e-01 7.28387555e-02 1.39488144e+02] [-1.74035470e-01 9.84696182e-01 -9.22416371e-03 -2.43978387e+01] [-7.33312828e-02 -3.61835046e-03 9.97301073e-01 -1.65876576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.42629675700002 meters 0.07507310416156775 Centerline is valid? [True, True] Translation: X:139.52, Y:-24.40, Z:-16.59 [[ 9.81795308e-01 1.74890994e-01 7.41020538e-02 1.39519625e+02] [-1.74678982e-01 9.84580730e-01 -9.38297068e-03 -2.44024806e+01] [-7.46004512e-02 -3.73191474e-03 9.97206521e-01 -1.65890212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.45629675700002 meters 0.07530980973791514 Centerline is valid? [True, True] Translation: X:139.55, Y:-24.40, Z:-16.59 [[ 9.81757698e-01 1.74820219e-01 7.47643826e-02 1.39550825e+02] [-1.74602484e-01 9.84593277e-01 -9.48953610e-03 -2.44049021e+01] [-7.52714712e-02 -3.73762181e-03 9.97156074e-01 -1.65924618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48629675700002 meters 0.07530296539501541 Centerline is valid? [True, True] Translation: X:139.58, Y:-24.41, Z:-16.59 [[ 9.81546184e-01 1.75762862e-01 7.53293074e-02 1.39582256e+02] [-1.75544042e-01 9.84425078e-01 -9.56845859e-03 -2.44084934e+01] [-7.58378390e-02 -3.83172705e-03 9.97112802e-01 -1.65940717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51629675700002 meters 0.07407490114272051 Centerline is valid? [True, True] Translation: X:139.61, Y:-24.42, Z:-16.59 [[ 9.81442675e-01 1.76049734e-01 7.60050453e-02 1.39613421e+02] [-1.75826389e-01 9.84373665e-01 -9.67304972e-03 -2.44166093e+01] [-7.65203028e-02 -3.87014884e-03 9.97060512e-01 -1.65940587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54629675700002 meters 0.07560921888171436 Centerline is valid? [True, True] Translation: X:139.64, Y:-24.41, Z:-16.60 [[ 9.81515015e-01 1.75791829e-01 7.56670839e-02 1.39644005e+02] [-1.75567902e-01 9.84419992e-01 -9.65358609e-03 -2.44145319e+01] [-7.61852117e-02 -3.80957150e-03 9.97086406e-01 -1.66010074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57629675700002 meters 0.07546805460470009 Centerline is valid? [True, True] Translation: X:139.68, Y:-24.42, Z:-16.60 [[ 9.81582445e-01 1.75778488e-01 7.48186282e-02 1.39675311e+02] [-1.75558968e-01 9.84422570e-01 -9.55255978e-03 -2.44181928e+01] [-7.53322808e-02 -3.75845618e-03 9.97151403e-01 -1.66047237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60629675700002 meters 0.07566125699714824 Centerline is valid? [True, True] Translation: X:139.71, Y:-24.42, Z:-16.61 [[ 9.81821752e-01 1.75189851e-01 7.30381008e-02 1.39705949e+02] [-1.74977705e-01 9.84528063e-01 -9.34318245e-03 -2.44204504e+01] [-7.35448907e-02 -3.60669950e-03 9.97285386e-01 -1.66097149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.63629675700003 meters 0.07569110425736023 Centerline is valid? [True, True] Translation: X:139.74, Y:-24.42, Z:-16.61 [[ 9.81965025e-01 1.74497533e-01 7.27688230e-02 1.39736711e+02] [-1.74283854e-01 9.84651300e-01 -9.32505904e-03 -2.44236899e+01] [-7.32791159e-02 -3.52554907e-03 9.97305240e-01 -1.66146305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.66629675700003 meters 0.07394320538687253 Centerline is valid? [True, True] Translation: X:139.77, Y:-24.43, Z:-16.61 [[ 9.82507855e-01 1.72132097e-01 7.10553053e-02 1.39768131e+02] [-1.71921167e-01 9.85068496e-01 -9.11977482e-03 -2.44339353e+01] [-7.15641487e-02 -3.25566062e-03 9.97430686e-01 -1.66146716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.69629675700003 meters 0.07459953212315404 Centerline is valid? [True, True] Translation: X:139.80, Y:-24.44, Z:-16.62 [[ 9.82776241e-01 1.71027680e-01 7.00028072e-02 1.39798811e+02] [-1.70818897e-01 9.85261315e-01 -9.00253482e-03 -2.44363588e+01] [-7.05107405e-02 -3.11032501e-03 9.97506171e-01 -1.66206045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.72629675700003 meters 0.0736520528059715 Centerline is valid? [True, True] Translation: X:139.83, Y:-24.44, Z:-16.62 [[ 9.82945155e-01 1.70431763e-01 6.90784729e-02 1.39830718e+02] [-1.70226077e-01 9.85364872e-01 -8.89676862e-03 -2.44440434e+01] [-6.95837925e-02 -3.01392180e-03 9.97571557e-01 -1.66214040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.75629675700003 meters 0.0734470704887938 Centerline is valid? [True, True] Translation: X:139.86, Y:-24.45, Z:-16.63 [[ 9.83016282e-01 1.70130500e-01 6.88084495e-02 1.39862067e+02] [-1.69924238e-01 9.85417094e-01 -8.88277617e-03 -2.44479456e+01] [-6.93162535e-02 -2.96030976e-03 9.97590344e-01 -1.66261058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.78629675700003 meters 0.07344497937774924 Centerline is valid? [True, True] Translation: X:139.89, Y:-24.45, Z:-16.63 [[ 9.83039245e-01 1.69524208e-01 6.99670372e-02 1.39892974e+02] [-1.69308095e-01 9.85521613e-01 -9.05096455e-03 -2.44506589e+01] [-7.04883849e-02 -2.94853243e-03 9.97508242e-01 -1.66300278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.81629675700003 meters 0.07378214665063902 Centerline is valid? [True, True] Translation: X:139.92, Y:-24.45, Z:-16.63 [[ 9.82823613e-01 1.70674883e-01 7.01985116e-02 1.39924349e+02] [-1.70459168e-01 9.85322753e-01 -9.09635004e-03 -2.44541094e+01] [-7.07207092e-02 -3.02587228e-03 9.97491567e-01 -1.66342068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.84629675700003 meters 0.07379752359454918 Centerline is valid? [True, True] Translation: X:139.96, Y:-24.46, Z:-16.64 [[ 9.82695307e-01 1.70909339e-01 7.14137976e-02 1.39956041e+02] [-1.70685429e-01 9.85281951e-01 -9.27155948e-03 -2.44582581e+01] [-7.19473220e-02 -3.07817669e-03 9.97403683e-01 -1.66370551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.87629675700003 meters 0.07438749124873013 Centerline is valid? [True, True] Translation: X:139.99, Y:-24.46, Z:-16.64 [[ 9.82540930e-01 1.71761976e-01 7.14922640e-02 1.39987002e+02] [-1.71538514e-01 9.85133519e-01 -9.29987471e-03 -2.44608003e+01] [-7.20267905e-02 -3.12616915e-03 9.97397799e-01 -1.66421549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.90629675700004 meters 0.0730693067881207 Centerline is valid? [True, True] Translation: X:140.02, Y:-24.47, Z:-16.64 [[ 9.82442099e-01 1.72532139e-01 7.09942442e-02 1.40018043e+02] [-1.72312733e-01 9.84998865e-01 -9.24974333e-03 -2.44696176e+01] [-7.15251279e-02 -3.14587495e-03 9.97433837e-01 -1.66422997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.93629675700004 meters 0.0743753167858311 Centerline is valid? [True, True] Translation: X:140.05, Y:-24.47, Z:-16.65 [[ 9.82148871e-01 1.74173376e-01 7.10438607e-02 1.40049177e+02] [-1.73956620e-01 9.84709640e-01 -9.27461518e-03 -2.44700415e+01] [-7.15729656e-02 -3.24949707e-03 9.97430073e-01 -1.66485630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.966296757 meters 0.07378631149874613 Centerline is valid? [True, True] Translation: X:140.08, Y:-24.48, Z:-16.65 [[ 9.81955911e-01 1.74752544e-01 7.22781998e-02 1.40080968e+02] [-1.74528545e-01 9.84606744e-01 -9.45232921e-03 -2.44761242e+01] [-7.28174216e-02 -3.33283849e-03 9.97339719e-01 -1.66505880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.996296757 meters 0.07525663056216998 Centerline is valid? [True, True] Translation: X:140.11, Y:-24.48, Z:-16.66 [[ 9.81592562e-01 1.76184455e-01 7.37229955e-02 1.40112759e+02] [-1.75954087e-01 9.84350982e-01 -9.65937222e-03 -2.44751330e+01] [-7.42711342e-02 -3.49029444e-03 9.97231977e-01 -1.66570062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.026296757 meters 0.07435623462377274 Centerline is valid? [True, True] Translation: X:140.15, Y:-24.48, Z:-16.66 [[ 9.81245948e-01 1.77459606e-01 7.52627222e-02 1.40145604e+02] [-1.77221751e-01 9.84121344e-01 -9.88087070e-03 -2.44820860e+01] [-7.58211067e-02 -3.64262706e-03 9.97114783e-01 -1.66576254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.056296757 meters 0.07433198486080567 Centerline is valid? [True, True] Translation: X:140.18, Y:-24.49, Z:-16.66 [[ 9.80810251e-01 1.78511961e-01 7.83883378e-02 1.40177773e+02] [-1.78254947e-01 9.83930208e-01 -1.03208186e-02 -2.44869027e+01] [-7.89710431e-02 -3.85034429e-03 9.96869475e-01 -1.66605612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.086296757 meters 0.07534417962788453 Centerline is valid? [True, True] Translation: X:140.21, Y:-24.49, Z:-16.66 [[ 9.80574796e-01 1.79480934e-01 7.91180343e-02 1.40208612e+02] [-1.79222034e-01 9.83753472e-01 -1.04196505e-02 -2.44888533e+01] [-7.97027695e-02 -3.96244834e-03 9.96810798e-01 -1.66640229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.11629675700001 meters 0.07367549025909456 Centerline is valid? [True, True] Translation: X:140.24, Y:-24.50, Z:-16.67 [[ 9.80433577e-01 1.79794597e-01 8.01492552e-02 1.40239803e+02] [-1.79528502e-01 9.83695950e-01 -1.05733484e-02 -2.44983066e+01] [-8.07435286e-02 -4.02260991e-03 9.96726794e-01 -1.66653515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.14629675700002 meters 0.07453050100051158 Centerline is valid? [True, True] Translation: X:140.27, Y:-24.50, Z:-16.67 [[ 9.80355655e-01 1.80751101e-01 7.89419312e-02 1.40270549e+02] [-1.80494421e-01 9.83520659e-01 -1.04344494e-02 -2.44991298e+01] [-7.95270584e-02 -4.01910674e-03 9.96824605e-01 -1.66708860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.17629675700002 meters 0.07459906949443326 Centerline is valid? [True, True] Translation: X:140.30, Y:-24.50, Z:-16.68 [[ 9.80071793e-01 1.82161150e-01 7.92249729e-02 1.40302255e+02] [-1.81905758e-01 9.83260014e-01 -1.04900302e-02 -2.45026813e+01] [-7.98096239e-02 -4.13049606e-03 9.96801566e-01 -1.66751804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.20629675700002 meters 0.0752130658539078 Centerline is valid? [True, True] Translation: X:140.33, Y:-24.51, Z:-16.68 [[ 9.79991801e-01 1.82483085e-01 7.94732213e-02 1.40333435e+02] [-1.82225338e-01 9.83200245e-01 -1.05453982e-02 -2.45055632e+01] [-8.00624474e-02 -4.14763086e-03 9.96781221e-01 -1.66798047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23629675700002 meters 0.07535131381954002 Centerline is valid? [True, True] Translation: X:140.36, Y:-24.51, Z:-16.68 [[ 9.80052475e-01 1.81304907e-01 8.13982675e-02 1.40363723e+02] [-1.81028893e-01 9.83418255e-01 -1.08201397e-02 -2.45109877e+01] [-8.20102866e-02 -4.13113355e-03 9.96622921e-01 -1.66835407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26629675700002 meters 0.07461033903249494 Centerline is valid? [True, True] Translation: X:140.39, Y:-24.52, Z:-16.69 [[ 9.80103392e-01 1.80448165e-01 8.26789031e-02 1.40394798e+02] [-1.80160153e-01 9.83575861e-01 -1.09929172e-02 -2.45179004e+01] [-8.33046251e-02 -4.12124835e-03 9.96515607e-01 -1.66859945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29629675700002 meters 0.07434792078261122 Centerline is valid? [True, True] Translation: X:140.43, Y:-24.52, Z:-16.69 [[ 9.80083742e-01 1.79193072e-01 8.55903094e-02 1.40425331e+02] [-1.78879212e-01 9.83805166e-01 -1.13851954e-02 -2.45218589e+01] [-8.62443367e-02 -4.15188221e-03 9.96265364e-01 -1.66895177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32629675700002 meters 0.07428883759279545 Centerline is valid? [True, True] Translation: X:140.46, Y:-24.53, Z:-16.69 [[ 9.80090837e-01 1.79033524e-01 8.58425807e-02 1.40456524e+02] [-1.78717373e-01 9.83834212e-01 -1.14167862e-02 -2.45265998e+01] [-8.64988552e-02 -4.15207299e-03 9.96243298e-01 -1.66937534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35629675700002 meters 0.07229716182742703 Centerline is valid? [True, True] Translation: X:140.49, Y:-24.54, Z:-16.69 [[ 9.80184421e-01 1.77744040e-01 8.74388763e-02 1.40486829e+02] [-1.77408611e-01 9.84068261e-01 -1.16551365e-02 -2.45379764e+01] [-8.81174540e-02 -4.08822634e-03 9.96101702e-01 -1.66941367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.38629675700003 meters 0.07365067916117349 Centerline is valid? [True, True] Translation: X:140.52, Y:-24.54, Z:-16.70 [[ 9.80144963e-01 1.77931651e-01 8.74995950e-02 1.40518678e+02] [-1.77596682e-01 9.84034265e-01 -1.16611832e-02 -2.45378352e+01] [-8.81774933e-02 -4.10998772e-03 9.96096299e-01 -1.66997787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.41629675700003 meters 0.07271559552489748 Centerline is valid? [True, True] Translation: X:140.55, Y:-24.55, Z:-16.70 [[ 9.80092381e-01 1.78653094e-01 8.66140687e-02 1.40549671e+02] [-1.78325639e-01 9.83903545e-01 -1.15663941e-02 -2.45470139e+01] [-8.72862613e-02 -4.10937447e-03 9.96174795e-01 -1.67025849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.44629675700003 meters 0.07357727196329666 Centerline is valid? [True, True] Translation: X:140.58, Y:-24.55, Z:-16.71 [[ 9.79950152e-01 1.80360282e-01 8.46632675e-02 1.40580056e+02] [-1.80051948e-01 9.83591885e-01 -1.13269469e-02 -2.45485368e+01] [-8.53170342e-02 -4.14394293e-03 9.96345237e-01 -1.67091656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.47629675700003 meters 0.07357727196329666 Centerline is valid? [True, True] Translation: X:140.61, Y:-24.55, Z:-16.71 [[ 9.79899862e-01 1.80634427e-01 8.46608824e-02 1.40611993e+02] [-1.80325578e-01 9.83541551e-01 -1.13447425e-02 -2.45529135e+01] [-8.53167467e-02 -4.14981091e-03 9.96345237e-01 -1.67127834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.50629675700003 meters 0.0740430372125736 Centerline is valid? [True, True] Translation: X:140.64, Y:-24.56, Z:-16.72 [[ 9.79806682e-01 1.81650469e-01 8.35582025e-02 1.40643846e+02] [-1.81351231e-01 9.83354368e-01 -1.12213361e-02 -2.45567122e+01] [-8.42056844e-02 -4.15864275e-03 9.96439716e-01 -1.67172963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.53629675700003 meters 0.07433767263784807 Centerline is valid? [True, True] Translation: X:140.67, Y:-24.56, Z:-16.72 [[ 9.79689569e-01 1.82623301e-01 8.28074724e-02 1.40674915e+02] [-1.82330907e-01 9.83174070e-01 -1.11440058e-02 -2.45601271e+01] [-8.34493147e-02 -4.18069533e-03 9.96503253e-01 -1.67215159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.56629675700003 meters 0.07584425162054878 Centerline is valid? [True, True] Translation: X:140.70, Y:-24.56, Z:-16.73 [[ 9.79380949e-01 1.85244253e-01 8.06072115e-02 1.40704527e+02] [-1.84974922e-01 9.82683219e-01 -1.08613676e-02 -2.45606042e+01] [-8.12233600e-02 -4.27289613e-03 9.96686765e-01 -1.67273709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.59629675700003 meters 0.07565510518768018 Centerline is valid? [True, True] Translation: X:140.74, Y:-24.57, Z:-16.73 [[ 9.79119415e-01 1.86951409e-01 7.98394817e-02 1.40735574e+02] [-1.86693350e-01 9.82359404e-01 -1.07514599e-02 -2.45661471e+01] [-8.04410662e-02 -4.37853715e-03 9.96749750e-01 -1.67305436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.62629675700003 meters 0.07624302576261435 Centerline is valid? [True, True] Translation: X:140.77, Y:-24.57, Z:-16.73 [[ 9.78706912e-01 1.88778434e-01 8.05945611e-02 1.40767735e+02] [-1.88519717e-01 9.82009172e-01 -1.08767097e-02 -2.45695909e+01] [-8.11978864e-02 -4.54855285e-03 9.96687621e-01 -1.67338482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.65629675700004 meters 0.07724989784558838 Centerline is valid? [True, True] Translation: X:140.80, Y:-24.57, Z:-16.74 [[ 9.78485824e-01 1.89473591e-01 8.16409805e-02 1.40799818e+02] [-1.89210494e-01 9.81874730e-01 -1.10183035e-02 -2.45712733e+01] [-8.22488933e-02 -4.66607652e-03 9.96600897e-01 -1.67382010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.68629675700004 meters 0.07649768809018898 Centerline is valid? [True, True] Translation: X:140.83, Y:-24.58, Z:-16.74 [[ 9.77868964e-01 1.91930108e-01 8.32773906e-02 1.40831178e+02] [-1.91662857e-01 9.81396147e-01 -1.12672678e-02 -2.45787402e+01] [-8.38906382e-02 -4.94327112e-03 9.96462706e-01 -1.67390776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.716296757 meters 0.07670657902183774 Centerline is valid? [True, True] Translation: X:140.86, Y:-24.58, Z:-16.74 [[ 9.77704969e-01 1.92458947e-01 8.39794501e-02 1.40863599e+02] [-1.92189074e-01 9.81292132e-01 -1.13627473e-02 -2.45831581e+01] [-8.45952360e-02 -5.03051823e-03 9.96402700e-01 -1.67424898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.746296757 meters 0.07703296022563838 Centerline is valid? [True, True] Translation: X:140.89, Y:-24.59, Z:-16.75 [[ 9.77543167e-01 1.92841198e-01 8.49801639e-02 1.40894772e+02] [-1.92564083e-01 9.81216731e-01 -1.15239380e-02 -2.45879562e+01] [-8.56062486e-02 -5.09898053e-03 9.96315999e-01 -1.67459290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.776296757 meters 0.07762392195641946 Centerline is valid? [True, True] Translation: X:140.93, Y:-24.59, Z:-16.75 [[ 9.77517834e-01 1.92930449e-01 8.50689472e-02 1.40925542e+02] [-1.92651222e-01 9.81199229e-01 -1.15577019e-02 -2.45911557e+01] [-8.56994180e-02 -5.09077690e-03 9.96308032e-01 -1.67499863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.806296757 meters 0.07748853667409175 Centerline is valid? [True, True] Translation: X:140.96, Y:-24.60, Z:-16.75 [[ 9.77683095e-01 1.91350434e-01 8.67224177e-02 1.40956045e+02] [-1.91051873e-01 9.81508923e-01 -1.18074578e-02 -2.45968583e+01] [-8.73781889e-02 -5.02452843e-03 9.96162540e-01 -1.67524211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.836296757 meters 0.07746794126799854 Centerline is valid? [True, True] Translation: X:140.99, Y:-24.60, Z:-16.76 [[ 9.77729574e-01 1.91425771e-01 8.60293779e-02 1.40988661e+02] [-1.91132500e-01 9.81494390e-01 -1.17102129e-02 -2.46028449e+01] [-8.66789884e-02 -4.99358860e-03 9.96223779e-01 -1.67558364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.86629675700001 meters 0.07722673411462669 Centerline is valid? [True, True] Translation: X:141.02, Y:-24.61, Z:-16.76 [[ 9.78052579e-01 1.88891183e-01 8.79390384e-02 1.41017972e+02] [-1.88571795e-01 9.81986073e-01 -1.20012795e-02 -2.46092721e+01] [-8.86218468e-02 -4.84493994e-03 9.96053560e-01 -1.67593350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.89629675700002 meters 0.07451678097943167 Centerline is valid? [True, True] Translation: X:141.05, Y:-24.62, Z:-16.76 [[ 9.78256973e-01 1.87566964e-01 8.84981891e-02 1.41048130e+02] [-1.87238014e-01 9.82240313e-01 -1.20786733e-02 -2.46228224e+01] [-8.91920490e-02 -4.75417879e-03 9.96003100e-01 -1.67607366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.92629675700002 meters 0.07636184694070862 Centerline is valid? [True, True] Translation: X:141.08, Y:-24.62, Z:-16.77 [[ 9.78727450e-01 1.84952228e-01 8.87989426e-02 1.41078575e+02] [-1.84609840e-01 9.82737090e-01 -1.21251109e-02 -2.46231319e+01] [-8.95085807e-02 -4.52597975e-03 9.95975768e-01 -1.67683881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.95629675700002 meters 0.07389669792545583 Centerline is valid? [True, True] Translation: X:141.11, Y:-24.64, Z:-16.77 [[ 9.78938040e-01 1.83650992e-01 8.91775004e-02 1.41108981e+02] [-1.83300415e-01 9.82981543e-01 -1.21755548e-02 -2.46365832e+01] [-8.98958896e-02 -4.42715912e-03 9.95941328e-01 -1.67690760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98629675700002 meters 0.0742095044604624 Centerline is valid? [True, True] Translation: X:141.14, Y:-24.64, Z:-16.77 [[ 9.78996350e-01 1.82834139e-01 9.02098851e-02 1.41139192e+02] [-1.82469794e-01 9.83134017e-01 -1.23401019e-02 -2.46406093e+01] [-9.09445987e-02 -4.37966449e-03 9.95846323e-01 -1.67732935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01629675700002 meters 0.07360916181526002 Centerline is valid? [True, True] Translation: X:141.17, Y:-24.65, Z:-16.78 [[ 9.79237101e-01 1.80729305e-01 9.18238486e-02 1.41169886e+02] [-1.80340242e-01 9.83523760e-01 -1.25861549e-02 -2.46498552e+01] [-9.25856238e-02 -4.23470525e-03 9.95695721e-01 -1.67760101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04629675700002 meters 0.07374555231782089 Centerline is valid? [True, True] Translation: X:141.20, Y:-24.66, Z:-16.78 [[ 9.79312955e-01 1.80289829e-01 9.18787966e-02 1.41200336e+02] [-1.79898213e-01 9.83604589e-01 -1.25954240e-02 -2.46558483e+01] [-9.26432329e-02 -4.19396941e-03 9.95690535e-01 -1.67790803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07629675700002 meters 0.07381135549609742 Centerline is valid? [True, True] Translation: X:141.23, Y:-24.66, Z:-16.78 [[ 9.79190782e-01 1.80912849e-01 9.19562606e-02 1.41231653e+02] [-1.80521359e-01 9.83490009e-01 -1.26269686e-02 -2.46603052e+01] [-9.27224445e-02 -4.23585784e-03 9.95682985e-01 -1.67830687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10629675700002 meters 0.07400684463628003 Centerline is valid? [True, True] Translation: X:141.26, Y:-24.67, Z:-16.79 [[ 9.79157867e-01 1.81853792e-01 9.04382140e-02 1.41262821e+02] [-1.81477111e-01 9.83316477e-01 -1.24404193e-02 -2.46650954e+01] [-9.11917234e-02 -4.23133144e-03 9.95824365e-01 -1.67885938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.13629675700003 meters 0.07416257371620508 Centerline is valid? [True, True] Translation: X:141.29, Y:-24.67, Z:-16.79 [[ 9.79062734e-01 1.83086967e-01 8.89681118e-02 1.41294734e+02] [-1.82725212e-01 9.83087535e-01 -1.22636073e-02 -2.46694107e+01] [-8.97087483e-02 -4.24987619e-03 9.95958975e-01 -1.67926412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.16629675700003 meters 0.07453925602348484 Centerline is valid? [True, True] Translation: X:141.33, Y:-24.67, Z:-16.80 [[ 9.78401228e-01 1.86710774e-01 8.87137149e-02 1.41325169e+02] [-1.86365600e-01 9.82404318e-01 -1.22319078e-02 -2.46744730e+01] [-8.94365655e-02 -4.56547107e-03 9.95982057e-01 -1.67959096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.19629675700003 meters 0.07556637754351364 Centerline is valid? [True, True] Translation: X:141.36, Y:-24.68, Z:-16.80 [[ 9.78147588e-01 1.88136122e-01 8.84991260e-02 1.41355947e+02] [-1.87796793e-01 9.82131877e-01 -1.22204789e-02 -2.46754768e+01] [-8.92169262e-02 -4.66642011e-03 9.96001287e-01 -1.68000438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.22629675700003 meters 0.07587076245565316 Centerline is valid? [True, True] Translation: X:141.39, Y:-24.68, Z:-16.80 [[ 9.77702296e-01 1.90053437e-01 8.93191495e-02 1.41387461e+02] [-1.89713538e-01 9.81761706e-01 -1.23582127e-02 -2.46792452e+01] [-9.00388414e-02 -4.86239895e-03 9.95926385e-01 -1.68032812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.25629675700003 meters 0.07687049027177803 Centerline is valid? [True, True] Translation: X:141.42, Y:-24.68, Z:-16.81 [[ 9.76980830e-01 1.93682026e-01 8.94188492e-02 1.41418896e+02] [-1.93356140e-01 9.81050582e-01 -1.23757229e-02 -2.46808165e+01] [-9.01213692e-02 -5.19883948e-03 9.95917221e-01 -1.68065243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.28629675700003 meters 0.07804324384983753 Centerline is valid? [True, True] Translation: X:141.45, Y:-24.68, Z:-16.81 [[ 9.76291978e-01 1.97786305e-01 8.79462990e-02 1.41450009e+02] [-1.97485731e-01 9.80229932e-01 -1.21929095e-02 -2.46823050e+01] [-8.86191852e-02 -5.46429941e-03 9.96050592e-01 -1.68106674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.31629675700003 meters 0.07938463018329037 Centerline is valid? [True, True] Translation: X:141.48, Y:-24.68, Z:-16.81 [[ 9.75904393e-01 1.99404618e-01 8.85912735e-02 1.41480424e+02] [-1.99106157e-01 9.79900942e-01 -1.22833807e-02 -2.46835127e+01] [-8.92600353e-02 -5.65166277e-03 9.95992322e-01 -1.68146582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.34629675700003 meters 0.0809185760869417 Centerline is valid? [True, True] Translation: X:141.51, Y:-24.69, Z:-16.82 [[ 9.75627627e-01 2.00856137e-01 8.83603120e-02 1.41511358e+02] [-2.00564358e-01 9.79603811e-01 -1.22601285e-02 -2.46851514e+01] [-8.90206205e-02 -5.76060915e-03 9.96013125e-01 -1.68188840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.37629675700003 meters 0.08078193407175806 Centerline is valid? [True, True] Translation: X:141.54, Y:-24.69, Z:-16.82 [[ 9.75698334e-01 2.01218518e-01 8.67402442e-02 1.41542843e+02] [-2.00937087e-01 9.79529980e-01 -1.20542657e-02 -2.46905782e+01] [-8.73902112e-02 -5.66800505e-03 9.96158032e-01 -1.68228404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.40629675700004 meters 0.07923692666071584 Centerline is valid? [True, True] Translation: X:141.57, Y:-24.70, Z:-16.83 [[ 9.76014507e-01 1.99107998e-01 8.80436656e-02 1.41573374e+02] [-1.98807184e-01 9.79961916e-01 -1.22616381e-02 -2.46987339e+01] [-8.87208294e-02 -5.53617652e-03 9.96041146e-01 -1.68255358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.43629675700004 meters 0.0781116991972392 Centerline is valid? [True, True] Translation: X:141.60, Y:-24.71, Z:-16.83 [[ 9.76236622e-01 1.98219265e-01 8.75852710e-02 1.41604257e+02] [-1.97918077e-01 9.80142676e-01 -1.21970964e-02 -2.47067862e+01] [-8.82637614e-02 -5.42745626e-03 9.96082352e-01 -1.68278280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.466296757 meters 0.07761938242456569 Centerline is valid? [True, True] Translation: X:141.63, Y:-24.71, Z:-16.83 [[ 9.76792217e-01 1.95192620e-01 8.81862056e-02 1.41634524e+02] [-1.94872588e-01 9.80751338e-01 -1.23079990e-02 -2.47129267e+01] [-8.88911697e-02 -5.16271650e-03 9.96027965e-01 -1.68310688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.496296757 meters 0.07639418928111315 Centerline is valid? [True, True] Translation: X:141.67, Y:-24.72, Z:-16.83 [[ 9.77262751e-01 1.92747202e-01 8.83517499e-02 1.41665153e+02] [-1.92415739e-01 9.81235980e-01 -1.23342866e-02 -2.47221812e+01] [-8.90713151e-02 -4.94642835e-03 9.96012969e-01 -1.68329373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.526296757 meters 0.07506563437251172 Centerline is valid? [True, True] Translation: X:141.70, Y:-24.73, Z:-16.84 [[ 9.78245568e-01 1.87636116e-01 8.84776605e-02 1.41695406e+02] [-1.87282671e-01 9.82228372e-01 -1.23542363e-02 -2.47325985e+01] [-8.92233693e-02 -4.48485566e-03 9.96001544e-01 -1.68358271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.556296757 meters 0.07389104313934551 Centerline is valid? [True, True] Translation: X:141.72, Y:-24.74, Z:-16.84 [[ 9.79544392e-01 1.81415766e-01 8.70695316e-02 1.41724775e+02] [-1.81047396e-01 9.83399001e-01 -1.21755748e-02 -2.47434187e+01] [-8.78329316e-02 -3.83719595e-03 9.96127829e-01 -1.68392753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.586296757 meters 0.07365802174574472 Centerline is valid? [True, True] Translation: X:141.75, Y:-24.75, Z:-16.84 [[ 9.80123519e-01 1.79117271e-01 8.52929721e-02 1.41754649e+02] [-1.78755099e-01 9.83821303e-01 -1.19272446e-02 -2.47497501e+01] [-8.60494184e-02 -3.55638077e-03 9.96284522e-01 -1.68436403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.61629675700001 meters 0.07284977699146565 Centerline is valid? [True, True] Translation: X:141.79, Y:-24.76, Z:-16.85 [[ 9.80587626e-01 1.76101849e-01 8.62325171e-02 1.41785071e+02] [-1.75718714e-01 9.84366375e-01 -1.20736586e-02 -2.47586815e+01] [-8.70105839e-02 -3.31338680e-03 9.96201877e-01 -1.68462656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.64629675700002 meters 0.07183861742058845 Centerline is valid? [True, True] Translation: X:141.82, Y:-24.77, Z:-16.85 [[ 9.81509339e-01 1.71506415e-01 8.49998068e-02 1.41815050e+02] [-1.71116712e-01 9.85178849e-01 -1.19040416e-02 -2.47687671e+01] [-8.57816313e-02 -2.86095944e-03 9.96309855e-01 -1.68487215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.67629675700002 meters 0.07155259258585514 Centerline is valid? [True, True] Translation: X:141.84, Y:-24.78, Z:-16.86 [[ 9.82316152e-01 1.67082937e-01 8.44882783e-02 1.41844114e+02] [-1.66681292e-01 9.85939785e-01 -1.18358422e-02 -2.47758444e+01] [-8.52779222e-02 -2.45607639e-03 9.96354176e-01 -1.68553764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.70629675700002 meters 0.07100475857315845 Centerline is valid? [True, True] Translation: X:141.87, Y:-24.78, Z:-16.86 [[ 9.82607744e-01 1.65539241e-01 8.41354921e-02 1.41874923e+02] [-1.65135680e-01 9.86200483e-01 -1.17819652e-02 -2.47835495e+01] [-8.49248405e-02 -2.31672147e-03 9.96384667e-01 -1.68583511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.73629675700002 meters 0.070924065213662 Centerline is valid? [True, True] Translation: X:141.91, Y:-24.79, Z:-16.86 [[ 9.83076940e-01 1.63529950e-01 8.25692739e-02 1.41906293e+02] [-1.63132548e-01 9.86536171e-01 -1.15825610e-02 -2.47917503e+01] [-8.33516709e-02 -2.08318746e-03 9.96518018e-01 -1.68620978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76629675700002 meters 0.07077227648717768 Centerline is valid? [True, True] Translation: X:141.94, Y:-24.80, Z:-16.86 [[ 9.83096617e-01 1.63619406e-01 8.21567481e-02 1.41938631e+02] [-1.63224691e-01 9.86521384e-01 -1.15437999e-02 -2.47981836e+01] [-8.29381786e-02 -2.06133918e-03 9.96552562e-01 -1.68647912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79629675700002 meters 0.07072721340895227 Centerline is valid? [True, True] Translation: X:141.97, Y:-24.80, Z:-16.87 [[ 9.82957556e-01 1.63739267e-01 8.35697037e-02 1.41969855e+02] [-1.63329162e-01 9.86501452e-01 -1.17673045e-02 -2.48041793e+01] [-8.43684039e-02 -2.08260884e-03 9.96432454e-01 -1.68669938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82629675700002 meters 0.07066747415682036 Centerline is valid? [True, True] Translation: X:142.00, Y:-24.81, Z:-16.87 [[ 9.82660743e-01 1.64988295e-01 8.45974374e-02 1.42002214e+02] [-1.64570908e-01 9.86293078e-01 -1.19323016e-02 -2.48082550e+01] [-8.54065571e-02 -2.19687278e-03 9.96343763e-01 -1.68704210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85629675700002 meters 0.07084706685120963 Centerline is valid? [True, True] Translation: X:142.04, Y:-24.81, Z:-16.87 [[ 9.82064135e-01 1.67522378e-01 8.65233342e-02 1.42035207e+02] [-1.67093346e-01 9.85865235e-01 -1.22291405e-02 -2.48112463e+01] [-8.73490019e-02 -2.44767315e-03 9.96174764e-01 -1.68732794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.88629675700003 meters 0.07149097538818455 Centerline is valid? [True, True] Translation: X:142.07, Y:-24.81, Z:-16.88 [[ 9.81704810e-01 1.69858457e-01 8.60451631e-02 1.42066448e+02] [-1.69440607e-01 9.85465007e-01 -1.21901922e-02 -2.48126283e+01] [-8.68651045e-02 -2.61237434e-03 9.96216658e-01 -1.68773637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.91629675700003 meters 0.07259290661214042 Centerline is valid? [True, True] Translation: X:142.10, Y:-24.81, Z:-16.88 [[ 9.81139747e-01 1.73273561e-01 8.56800376e-02 1.42096381e+02] [-1.72871111e-01 9.84869496e-01 -1.21513362e-02 -2.48129148e+01] [-8.64891608e-02 -2.88944436e-03 9.96248602e-01 -1.68817019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.94629675700003 meters 0.07255666443024769 Centerline is valid? [True, True] Translation: X:142.13, Y:-24.82, Z:-16.88 [[ 9.80938083e-01 1.75014567e-01 8.44415664e-02 1.42128254e+02] [-1.74630130e-01 9.84561277e-01 -1.19753880e-02 -2.48179459e+01] [-8.52337638e-02 -2.99892761e-03 9.96356468e-01 -1.68842529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.97629675700003 meters 0.07321731767200132 Centerline is valid? [True, True] Translation: X:142.16, Y:-24.82, Z:-16.89 [[ 9.80876226e-01 1.76710666e-01 8.15792197e-02 1.42158027e+02] [-1.76357204e-01 9.84258168e-01 -1.15755909e-02 -2.48195959e+01] [-8.23405438e-02 -3.03286121e-03 9.96599637e-01 -1.68903005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.00629675700003 meters 0.07361438799535786 Centerline is valid? [True, True] Translation: X:142.19, Y:-24.82, Z:-16.90 [[ 9.80879196e-01 1.77251358e-01 8.03614273e-02 1.42189843e+02] [-1.76910315e-01 9.84160939e-01 -1.14011839e-02 -2.48231476e+01] [-8.11094531e-02 -3.03358133e-03 9.96700584e-01 -1.68950611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.03629675700003 meters 0.0738596355326277 Centerline is valid? [True, True] Translation: X:142.22, Y:-24.83, Z:-16.90 [[ 9.81003643e-01 1.76714192e-01 8.00246685e-02 1.42219796e+02] [-1.76372559e-01 9.84257768e-01 -1.13739111e-02 -2.48281149e+01] [-8.07748332e-02 -2.95630734e-03 9.96727990e-01 -1.69001356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.06629675700003 meters 0.07379726979489742 Centerline is valid? [True, True] Translation: X:142.25, Y:-24.83, Z:-16.90 [[ 9.81146302e-01 1.75416194e-01 8.11239401e-02 1.42250202e+02] [-1.75058979e-01 9.84490188e-01 -1.15508692e-02 -2.48336319e+01] [-8.18919326e-02 -2.86838156e-03 9.96637087e-01 -1.69034519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.09629675700003 meters 0.07315266350410625 Centerline is valid? [True, True] Translation: X:142.28, Y:-24.84, Z:-16.91 [[ 9.81596742e-01 1.72152047e-01 8.26529365e-02 1.42279627e+02] [-1.71768034e-01 9.85066890e-01 -1.17883172e-02 -2.48414226e+01] [-8.34480540e-02 -2.62575869e-03 9.96508669e-01 -1.69060768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.12629675700003 meters 0.07298801308228 Centerline is valid? [True, True] Translation: X:142.31, Y:-24.85, Z:-16.91 [[ 9.81613107e-01 1.71190678e-01 8.44361324e-02 1.42310828e+02] [-1.70786312e-01 9.85234489e-01 -1.20431578e-02 -2.48468386e+01] [-8.52510661e-02 -2.59881411e-03 9.96356112e-01 -1.69088786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.15629675700004 meters 0.07272434870224079 Centerline is valid? [True, True] Translation: X:142.34, Y:-24.85, Z:-16.91 [[ 9.81674274e-01 1.69636361e-01 8.68281300e-02 1.42341617e+02] [-1.69202228e-01 9.85503480e-01 -1.23894143e-02 -2.48522205e+01] [-8.76711194e-02 -2.52914375e-03 9.96146263e-01 -1.69120276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.18629675700004 meters 0.07215610897834557 Centerline is valid? [True, True] Translation: X:142.37, Y:-24.86, Z:-16.91 [[ 9.81815639e-01 1.67545750e-01 8.92550935e-02 1.42372104e+02] [-1.67078078e-01 9.85861368e-01 -1.27389043e-02 -2.48612273e+01] [-9.01274978e-02 -2.40531407e-03 9.95927331e-01 -1.69135148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.216296757 meters 0.0721494093132339 Centerline is valid? [True, True] Translation: X:142.40, Y:-24.87, Z:-16.92 [[ 9.81739917e-01 1.66882781e-01 9.13064737e-02 1.42402774e+02] [-1.66390504e-01 9.85973824e-01 -1.30314330e-02 -2.48672353e+01] [-9.22005148e-02 -2.39905222e-03 9.95737571e-01 -1.69165958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.246296757 meters 0.07215934444253577 Centerline is valid? [True, True] Translation: X:142.43, Y:-24.87, Z:-16.92 [[ 9.81641799e-01 1.66694670e-01 9.26944747e-02 1.42434064e+02] [-1.66184445e-01 9.86005651e-01 -1.32509359e-02 -2.48720229e+01] [-9.36061362e-02 -2.39670723e-03 9.95606422e-01 -1.69204192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.276296757 meters 0.07239033166530025 Centerline is valid? [True, True] Translation: X:142.47, Y:-24.88, Z:-16.92 [[ 9.81447638e-01 1.67468536e-01 9.33532165e-02 1.42466015e+02] [-1.66952347e-01 9.85874338e-01 -1.33679939e-02 -2.48752520e+01] [-9.42732588e-02 -2.46555256e-03 9.95543306e-01 -1.69244594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.306296757 meters 0.07243808383215185 Centerline is valid? [True, True] Translation: X:142.50, Y:-24.88, Z:-16.93 [[ 9.81194013e-01 1.68343573e-01 9.44391360e-02 1.42498839e+02] [-1.67816947e-01 9.85725070e-01 -1.35483730e-02 -2.48793622e+01] [-9.53718055e-02 -2.55490495e-03 9.95438442e-01 -1.69286522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.336296757 meters 0.07258209105267084 Centerline is valid? [True, True] Translation: X:142.53, Y:-24.88, Z:-16.93 [[ 9.80935802e-01 1.69331098e-01 9.53516196e-02 1.42531599e+02] [-1.68796275e-01 9.85555659e-01 -1.37062397e-02 -2.48840661e+01] [-9.62952208e-02 -2.65005698e-03 9.95349289e-01 -1.69314595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.36629675700001 meters 0.07258209105267084 Centerline is valid? [True, True] Translation: X:142.56, Y:-24.89, Z:-16.94 [[ 9.80888713e-01 1.69605815e-01 9.53477852e-02 1.42563442e+02] [-1.69069700e-01 9.85508420e-01 -1.37328580e-02 -2.48887515e+01] [-9.62952177e-02 -2.65001609e-03 9.95349290e-01 -1.69350765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.39629675700002 meters 0.07310671754043893 Centerline is valid? [True, True] Translation: X:142.59, Y:-24.89, Z:-16.94 [[ 9.80461826e-01 1.71652953e-01 9.60722182e-02 1.42594086e+02] [-1.71115481e-01 9.85153380e-01 -1.38675804e-02 -2.48894977e+01] [-9.70262816e-02 -2.84281070e-03 9.95277760e-01 -1.69385837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.42629675700002 meters 0.07302757522093639 Centerline is valid? [True, True] Translation: X:142.63, Y:-24.89, Z:-16.94 [[ 9.80275122e-01 1.72710923e-01 9.60813363e-02 1.42625705e+02] [-1.72177852e-01 9.84968163e-01 -1.38746592e-02 -2.48935680e+01] [-9.70333625e-02 -2.94209485e-03 9.95276781e-01 -1.69417223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.45629675700002 meters 0.07307858641691893 Centerline is valid? [True, True] Translation: X:142.66, Y:-24.90, Z:-16.95 [[ 9.80280930e-01 1.73312987e-01 9.49310619e-02 1.42657568e+02] [-1.72793237e-01 9.84862400e-01 -1.37313223e-02 -2.48970294e+01] [-9.58738500e-02 -2.94289212e-03 9.95389142e-01 -1.69465405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48629675700002 meters 0.07338484457950459 Centerline is valid? [True, True] Translation: X:142.69, Y:-24.90, Z:-16.95 [[ 9.80488382e-01 1.72887100e-01 9.35552426e-02 1.42688518e+02] [-1.72378246e-01 9.84937564e-01 -1.35548912e-02 -2.48999047e+01] [-9.44895385e-02 -2.83647527e-03 9.95521814e-01 -1.69525266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51629675700002 meters 0.07346243165751072 Centerline is valid? [True, True] Translation: X:142.72, Y:-24.90, Z:-16.96 [[ 9.80679153e-01 1.72645879e-01 9.19880434e-02 1.42719268e+02] [-1.72150426e-01 9.84980150e-01 -1.33542249e-02 -2.49043384e+01] [-9.29119486e-02 -2.73957093e-03 9.95670560e-01 -1.69563304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54629675700002 meters 0.07326502215996164 Centerline is valid? [True, True] Translation: X:142.75, Y:-24.91, Z:-16.96 [[ 9.80820381e-01 1.71747028e-01 9.21647395e-02 1.42750627e+02] [-1.71244731e-01 9.85137523e-01 -1.33903680e-02 -2.49096127e+01] [-9.30946991e-02 -2.64918023e-03 9.95653734e-01 -1.69601581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57629675700002 meters 0.07287755699785436 Centerline is valid? [True, True] Translation: X:142.78, Y:-24.92, Z:-16.96 [[ 9.81160419e-01 1.69168129e-01 9.33079673e-02 1.42781213e+02] [-1.68639138e-01 9.85584265e-01 -1.35829625e-02 -2.49170443e+01] [-9.42606688e-02 -2.40831007e-03 9.95544638e-01 -1.69630919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60629675700002 meters 0.07246649353150195 Centerline is valid? [True, True] Translation: X:142.81, Y:-24.92, Z:-16.97 [[ 9.81433748e-01 1.67713059e-01 9.30598086e-02 1.42813429e+02] [-1.67180126e-01 9.85833263e-01 -1.35492862e-02 -2.49221302e+01] [-9.40138470e-02 -2.26002382e-03 9.95568325e-01 -1.69654264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.63629675700003 meters 0.07248742467976771 Centerline is valid? [True, True] Translation: X:142.84, Y:-24.93, Z:-16.97 [[ 9.81549258e-01 1.66535736e-01 9.39515930e-02 1.42844285e+02] [-1.65986555e-01 9.86033050e-01 -1.36853437e-02 -2.49268341e+01] [-9.49184746e-02 -2.16186230e-03 9.95482702e-01 -1.69685991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.66629675700003 meters 0.07226048773999418 Centerline is valid? [True, True] Translation: X:142.88, Y:-24.93, Z:-16.97 [[ 9.81760449e-01 1.64188301e-01 9.58573013e-02 1.42875843e+02] [-1.63603276e-01 9.86427082e-01 -1.39849623e-02 -2.49338621e+01] [-9.68524052e-02 -1.95268568e-03 9.95296839e-01 -1.69712667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.69629675700003 meters 0.07234025597158945 Centerline is valid? [True, True] Translation: X:142.91, Y:-24.94, Z:-16.98 [[ 9.81814084e-01 1.63754658e-01 9.60495505e-02 1.42906554e+02] [-1.63162860e-01 9.86499286e-01 -1.40371216e-02 -2.49382105e+01] [-9.70514570e-02 -1.88987565e-03 9.95277571e-01 -1.69756468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.72629675700003 meters 0.07234540140242864 Centerline is valid? [True, True] Translation: X:142.94, Y:-24.94, Z:-16.98 [[ 9.81989501e-01 1.62540990e-01 9.63174261e-02 1.42937493e+02] [-1.61937908e-01 9.86700235e-01 -1.40982478e-02 -2.49440103e+01] [-9.73279701e-02 -1.75311118e-03 9.95250819e-01 -1.69789463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.75629675700003 meters 0.0722725072104321 Centerline is valid? [True, True] Translation: X:142.97, Y:-24.95, Z:-16.98 [[ 9.81989217e-01 1.62654179e-01 9.61290549e-02 1.42969842e+02] [-1.62051797e-01 9.86681608e-01 -1.40932379e-02 -2.49498964e+01] [-9.71410945e-02 -1.73847843e-03 9.95269102e-01 -1.69824784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.78629675700003 meters 0.07231180696225885 Centerline is valid? [True, True] Translation: X:143.00, Y:-24.95, Z:-16.99 [[ 9.81868327e-01 1.62484859e-01 9.76384076e-02 1.43001339e+02] [-1.61859758e-01 9.86709536e-01 -1.43426229e-02 -2.49537958e+01] [-9.86712069e-02 -1.72116180e-03 9.95118601e-01 -1.69851105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.81629675700003 meters 0.07240695252878891 Centerline is valid? [True, True] Translation: X:143.03, Y:-24.96, Z:-16.99 [[ 9.81838482e-01 1.63055360e-01 9.69852812e-02 1.43032162e+02] [-1.62438945e-01 9.86615384e-01 -1.42714354e-02 -2.49571219e+01] [-9.80142044e-02 -1.74194230e-03 9.95183491e-01 -1.69890758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.84629675700003 meters 0.07277272882511887 Centerline is valid? [True, True] Translation: X:143.06, Y:-24.96, Z:-16.99 [[ 9.81792374e-01 1.64007607e-01 9.58396500e-02 1.43063532e+02] [-1.63409156e-01 9.86457424e-01 -1.41137617e-02 -2.49608942e+01] [-9.68564985e-02 -1.80429275e-03 9.95296721e-01 -1.69928098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.87629675700003 meters 0.07291566679423257 Centerline is valid? [True, True] Translation: X:143.10, Y:-24.96, Z:-17.00 [[ 9.81646159e-01 1.65022041e-01 9.55957320e-02 1.43095495e+02] [-1.64429231e-01 9.86288093e-01 -1.41005415e-02 -2.49644098e+01] [-9.66118324e-02 -1.87699024e-03 9.95320366e-01 -1.69969542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.90629675700004 meters 0.07320400047672368 Centerline is valid? [True, True] Translation: X:143.13, Y:-24.97, Z:-17.00 [[ 9.81479896e-01 1.66222929e-01 9.52215899e-02 1.43126084e+02] [-1.65638195e-01 9.86086242e-01 -1.40680846e-02 -2.49669524e+01] [-9.62351380e-02 -1.96479002e-03 9.95356689e-01 -1.70018197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.93629675700004 meters 0.07312969582984209 Centerline is valid? [True, True] Translation: X:143.16, Y:-24.97, Z:-17.00 [[ 9.81405531e-01 1.66891292e-01 9.48181407e-02 1.43157666e+02] [-1.66312673e-01 9.85973271e-01 -1.40286983e-02 -2.49737533e+01] [-9.58294199e-02 -2.00161638e-03 9.95395758e-01 -1.70039914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.966296757 meters 0.07312028291533654 Centerline is valid? [True, True] Translation: X:143.19, Y:-24.98, Z:-17.01 [[ 9.81446015e-01 1.67291900e-01 9.36863902e-02 1.43188892e+02] [-1.66726677e-01 9.85905394e-01 -1.38841330e-02 -2.49777561e+01] [-9.46886204e-02 -1.99349350e-03 9.95504943e-01 -1.70080971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.996296757 meters 0.07330116044138053 Centerline is valid? [True, True] Translation: X:143.22, Y:-24.98, Z:-17.01 [[ 9.81459807e-01 1.67822331e-01 9.25867856e-02 1.43220323e+02] [-1.67270560e-01 9.85815232e-01 -1.37436335e-02 -2.49816948e+01] [-9.35799522e-02 -1.99821961e-03 9.95609763e-01 -1.70130167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.026296757 meters 0.07339716893757375 Centerline is valid? [True, True] Translation: X:143.25, Y:-24.98, Z:-17.02 [[ 9.81177402e-01 1.69817380e-01 9.19400035e-02 1.43251925e+02] [-1.69279946e-01 9.85473202e-01 -1.36699954e-02 -2.49846516e+01] [-9.29258124e-02 -2.15090827e-03 9.95670712e-01 -1.70166203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.056296757 meters 0.07357086632152607 Centerline is valid? [True, True] Translation: X:143.28, Y:-24.99, Z:-17.02 [[ 9.80856230e-01 1.71310205e-01 9.25951890e-02 1.43282901e+02] [-1.70769552e-01 9.85214488e-01 -1.37903138e-02 -2.49869477e+01] [-9.35885432e-02 -2.28612380e-03 9.95608336e-01 -1.70208321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.086296757 meters 0.07357301723776503 Centerline is valid? [True, True] Translation: X:143.32, Y:-24.99, Z:-17.02 [[ 9.80561621e-01 1.72478142e-01 9.35424903e-02 1.43315523e+02] [-1.71929535e-01 9.85010421e-01 -1.39536937e-02 -2.49902662e+01] [-9.45470349e-02 -2.40026041e-03 9.95517502e-01 -1.70232536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.11629675700001 meters 0.07364392191278973 Centerline is valid? [True, True] Translation: X:143.35, Y:-24.99, Z:-17.03 [[ 9.80373216e-01 1.73408513e-01 9.37968325e-02 1.43347298e+02] [-1.72858603e-01 9.84846884e-01 -1.40184762e-02 -2.49935819e+01] [-9.48064414e-02 -2.47025084e-03 9.95492660e-01 -1.70265701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.14629675700002 meters 0.07397624694682887 Centerline is valid? [True, True] Translation: X:143.38, Y:-24.99, Z:-17.03 [[ 9.79861961e-01 1.75766926e-01 9.47445294e-02 1.43379492e+02] [-1.75214587e-01 9.84428099e-01 -1.41833175e-02 -2.49946541e+01] [-9.57621351e-02 -2.70293035e-03 9.95400576e-01 -1.70299253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.17629675700002 meters 0.07404812363062407 Centerline is valid? [True, True] Translation: X:143.41, Y:-25.00, Z:-17.03 [[ 9.79607723e-01 1.76566307e-01 9.58803821e-02 1.43411886e+02] [-1.76002215e-01 9.84284788e-01 -1.43762562e-02 -2.49974255e+01] [-9.69119640e-02 -2.79206800e-03 9.95289041e-01 -1.70331914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.20629675700002 meters 0.07401649253613216 Centerline is valid? [True, True] Translation: X:143.44, Y:-25.00, Z:-17.04 [[ 9.79068615e-01 1.78774247e-01 9.72852335e-02 1.43444007e+02] [-1.78201643e-01 9.83885461e-01 -1.46142083e-02 -2.50000785e+01] [-9.83301709e-02 -3.02807574e-03 9.95149239e-01 -1.70352175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.23629675700002 meters 0.07384627954618436 Centerline is valid? [True, True] Translation: X:143.48, Y:-25.00, Z:-17.04 [[ 9.78781671e-01 1.80248423e-01 9.74522768e-02 1.43476129e+02] [-1.79678767e-01 9.83616049e-01 -1.46631532e-02 -2.50049863e+01] [-9.84986337e-02 -3.15807942e-03 9.95132175e-01 -1.70368771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26629675700002 meters 0.07461309928631187 Centerline is valid? [True, True] Translation: X:143.51, Y:-25.00, Z:-17.04 [[ 9.78547018e-01 1.82140564e-01 9.62836889e-02 1.43506926e+02] [-1.81591084e-01 9.83267025e-01 -1.45133265e-02 -2.50040332e+01] [-9.73160418e-02 -3.28228708e-03 9.95248117e-01 -1.70417786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29629675700002 meters 0.07458007501709836 Centerline is valid? [True, True] Translation: X:143.54, Y:-25.01, Z:-17.05 [[ 9.78395070e-01 1.83572767e-01 9.51006069e-02 1.43538641e+02] [-1.83042475e-01 9.83000340e-01 -1.43451990e-02 -2.50071717e+01] [-9.61173167e-02 -3.37217850e-03 9.95364300e-01 -1.70456069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32629675700002 meters 0.0744752042951161 Centerline is valid? [True, True] Translation: X:143.57, Y:-25.01, Z:-17.05 [[ 9.78104686e-01 1.85540447e-01 9.42654059e-02 1.43570051e+02] [-1.85026141e-01 9.82630362e-01 -1.42442564e-02 -2.50093811e+01] [-9.52709356e-02 -3.50919040e-03 9.95445194e-01 -1.70507142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35629675700002 meters 0.0749872339124248 Centerline is valid? [True, True] Translation: X:143.60, Y:-25.01, Z:-17.06 [[ 9.78012023e-01 1.86392894e-01 9.35423546e-02 1.43601272e+02] [-1.85889421e-01 9.82468855e-01 -1.41446569e-02 -2.50103180e+01] [-9.45389136e-02 -3.55488964e-03 9.95514820e-01 -1.70558687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.38629675700003 meters 0.07473753195719647 Centerline is valid? [True, True] Translation: X:143.63, Y:-25.01, Z:-17.06 [[ 9.77748886e-01 1.87914120e-01 9.32491276e-02 1.43632930e+02] [-1.87418627e-01 9.82178611e-01 -1.41221227e-02 -2.50145494e+01] [-9.42410448e-02 -3.66873370e-03 9.95542649e-01 -1.70589197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.41629675700003 meters 0.07489444713128182 Centerline is valid? [True, True] Translation: X:143.66, Y:-25.02, Z:-17.06 [[ 9.77758700e-01 1.88079573e-01 9.28116346e-02 1.43664575e+02] [-1.87587270e-01 9.82147033e-01 -1.40791542e-02 -2.50168038e+01] [-9.38026729e-02 -3.64426565e-03 9.95584139e-01 -1.70631011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.44629675700003 meters 0.07493268133549354 Centerline is valid? [True, True] Translation: X:143.70, Y:-25.02, Z:-17.07 [[ 9.77844290e-01 1.87999484e-01 9.20692098e-02 1.43696860e+02] [-1.87512384e-01 9.82162591e-01 -1.39910635e-02 -2.50209980e+01] [-9.30572464e-02 -3.58303555e-03 9.95654313e-01 -1.70668606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.47629675700003 meters 0.07474413684930263 Centerline is valid? [True, True] Translation: X:143.73, Y:-25.02, Z:-17.07 [[ 9.78023282e-01 1.87476268e-01 9.12310713e-02 1.43728302e+02] [-1.86993267e-01 9.82262987e-01 -1.38903415e-02 -2.50248551e+01] [-9.22170141e-02 -3.47451872e-03 9.95732871e-01 -1.70711566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.50629675700003 meters 0.07478392249996652 Centerline is valid? [True, True] Translation: X:143.76, Y:-25.03, Z:-17.08 [[ 9.78265054e-01 1.86474941e-01 9.06894676e-02 1.43759359e+02] [-1.85991109e-01 9.82454055e-01 -1.38324780e-02 -2.50281297e+01] [-9.16776457e-02 -3.33560481e-03 9.95783151e-01 -1.70753183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.53629675700003 meters 0.0751533114599553 Centerline is valid? [True, True] Translation: X:143.79, Y:-25.03, Z:-17.08 [[ 9.78402327e-01 1.85582923e-01 9.10377125e-02 1.43789750e+02] [-1.85090456e-01 9.82623221e-01 -1.38970614e-02 -2.50304480e+01] [-9.20348275e-02 -3.25329448e-03 9.95750474e-01 -1.70803843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.56629675700003 meters 0.07383686446051202 Centerline is valid? [True, True] Translation: X:143.82, Y:-25.04, Z:-17.08 [[ 9.78960512e-01 1.82542402e-01 9.11843602e-02 1.43820207e+02] [-1.82032946e-01 9.83193562e-01 -1.39437110e-02 -2.50407797e+01] [-9.21971944e-02 -2.94821527e-03 9.95736404e-01 -1.70804139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.59629675700003 meters 0.07360738687949564 Centerline is valid? [True, True] Translation: X:143.85, Y:-25.05, Z:-17.08 [[ 9.79067590e-01 1.81370745e-01 9.23650745e-02 1.43851921e+02] [-1.80842834e-01 9.83410588e-01 -1.41238879e-02 -2.50471802e+01] [-9.33944523e-02 -2.87532094e-03 9.95625034e-01 -1.70827314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.62629675700003 meters 0.07318350771201841 Centerline is valid? [True, True] Translation: X:143.88, Y:-25.05, Z:-17.09 [[ 9.79542059e-01 1.79537748e-01 9.09040853e-02 1.43883083e+02] [-1.79016508e-01 9.83747555e-01 -1.39226016e-02 -2.50523797e+01] [-9.19263042e-02 -2.63555813e-03 9.95762325e-01 -1.70861580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.65629675700004 meters 0.07317142425567473 Centerline is valid? [True, True] Translation: X:143.92, Y:-25.06, Z:-17.09 [[ 9.79497952e-01 1.79769135e-01 9.09220549e-02 1.43915480e+02] [-1.79246675e-01 9.83705295e-01 -1.39470982e-02 -2.50561579e+01] [-9.19477647e-02 -2.63632193e-03 9.95760342e-01 -1.70903909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.68629675700004 meters 0.07349106751362719 Centerline is valid? [True, True] Translation: X:143.95, Y:-25.06, Z:-17.09 [[ 9.79424719e-01 1.81177237e-01 8.88933588e-02 1.43947341e+02] [-1.80681103e-01 9.83446813e-01 -1.36639875e-02 -2.50582360e+01] [-8.98974939e-02 -2.67850301e-03 9.95947421e-01 -1.70940818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.716296757 meters 0.0735197169799982 Centerline is valid? [True, True] Translation: X:143.98, Y:-25.06, Z:-17.10 [[ 9.79352719e-01 1.81843053e-01 8.83252893e-02 1.43979282e+02] [-1.81355559e-01 9.83323811e-01 -1.35809819e-02 -2.50617268e+01] [-8.93219673e-02 -2.71771066e-03 9.95999096e-01 -1.70977078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.746296757 meters 0.0738267157357573 Centerline is valid? [True, True] Translation: X:144.01, Y:-25.06, Z:-17.10 [[ 9.79251060e-01 1.82845465e-01 8.73778985e-02 1.44010348e+02] [-1.82370428e-01 9.83137800e-01 -1.34571050e-02 -2.50631183e+01] [-8.83650855e-02 -2.75726040e-03 9.96084338e-01 -1.71017392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.776296757 meters 0.0737559278507026 Centerline is valid? [True, True] Translation: X:144.04, Y:-25.07, Z:-17.10 [[ 9.78875477e-01 1.85219721e-01 8.65820689e-02 1.44042516e+02] [-1.84760535e-01 9.82692790e-01 -1.33575867e-02 -2.50665243e+01] [-8.75576633e-02 -2.92153530e-03 9.96155169e-01 -1.71045132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.806296757 meters 0.0739470621162628 Centerline is valid? [True, True] Translation: X:144.07, Y:-25.07, Z:-17.11 [[ 9.78432313e-01 1.88248884e-01 8.50444950e-02 1.44073216e+02] [-1.87816882e-01 9.82116365e-01 -1.31249373e-02 -2.50678754e+01] [-8.59943451e-02 -3.13092917e-03 9.96290706e-01 -1.71072690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.836296757 meters 0.07469941320716804 Centerline is valid? [True, True] Translation: X:144.10, Y:-25.07, Z:-17.11 [[ 9.78128918e-01 1.89853750e-01 8.49668921e-02 1.44104439e+02] [-1.89427925e-01 9.81806964e-01 -1.31204323e-02 -2.50672381e+01] [-8.59120497e-02 -3.26162780e-03 9.96297386e-01 -1.71130700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.86629675700001 meters 0.07538527380120101 Centerline is valid? [True, True] Translation: X:144.14, Y:-25.07, Z:-17.12 [[ 9.77807659e-01 1.92540646e-01 8.25849936e-02 1.44136002e+02] [-1.92145973e-01 9.81283192e-01 -1.27758795e-02 -2.50670470e+01] [-8.34991422e-02 -3.37602104e-03 9.96502130e-01 -1.71165980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.89629675700002 meters 0.07489874683115813 Centerline is valid? [True, True] Translation: X:144.17, Y:-25.07, Z:-17.12 [[ 9.77697893e-01 1.93682272e-01 8.12034899e-02 1.44167438e+02] [-1.93304469e-01 9.81058371e-01 -1.25640181e-02 -2.50728699e+01] [-8.20987911e-02 -3.41318349e-03 9.96618352e-01 -1.71178800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.92629675700002 meters 0.075334696824397 Centerline is valid? [True, True] Translation: X:144.20, Y:-25.08, Z:-17.12 [[ 9.77544058e-01 1.94886305e-01 8.01682113e-02 1.44199074e+02] [-1.94522064e-01 9.80819707e-01 -1.24044225e-02 -2.50753936e+01] [-8.10480135e-02 -3.46861635e-03 9.96704163e-01 -1.71209600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.95629675700002 meters 0.07569791514748907 Centerline is valid? [True, True] Translation: X:144.23, Y:-25.08, Z:-17.13 [[ 9.77559215e-01 1.94418855e-01 8.11128251e-02 1.44229875e+02] [-1.94042724e-01 9.80912535e-01 -1.25706194e-02 -2.50768870e+01] [-8.20085523e-02 -3.45082868e-03 9.96625651e-01 -1.71250461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98629675700002 meters 0.07445933834480353 Centerline is valid? [True, True] Translation: X:144.26, Y:-25.09, Z:-17.12 [[ 9.77483270e-01 1.94976327e-01 8.06888410e-02 1.44261077e+02] [-1.94604584e-01 9.80801838e-01 -1.25223671e-02 -2.50856356e+01] [-8.15813287e-02 -3.46201395e-03 9.96660675e-01 -1.71245982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01629675700002 meters 0.07455489946161081 Centerline is valid? [True, True] Translation: X:144.29, Y:-25.09, Z:-17.13 [[ 9.77395055e-01 1.95139833e-01 8.13594031e-02 1.44292518e+02] [-1.94760703e-01 9.80769243e-01 -1.26475708e-02 -2.50896736e+01] [-8.22628450e-02 -3.48394140e-03 9.96604579e-01 -1.71283423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04629675700002 meters 0.07597454517384707 Centerline is valid? [True, True] Translation: X:144.32, Y:-25.09, Z:-17.14 [[ 9.77470132e-01 1.94674204e-01 8.15726439e-02 1.44323337e+02] [-1.94289681e-01 9.80861953e-01 -1.27022955e-02 -2.50868285e+01] [-8.24843121e-02 -3.43260849e-03 9.96586452e-01 -1.71363572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07629675700002 meters 0.07449660411994313 Centerline is valid? [True, True] Translation: X:144.36, Y:-25.10, Z:-17.14 [[ 9.77668644e-01 1.94136452e-01 8.04677611e-02 1.44355240e+02] [-1.93759071e-01 9.80968902e-01 -1.25473127e-02 -2.50974642e+01] [-8.13722621e-02 -3.32424439e-03 9.96678235e-01 -1.71354166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10629675700002 meters 0.07438485861279207 Centerline is valid? [True, True] Translation: X:144.38, Y:-25.10, Z:-17.14 [[ 9.78009713e-01 1.92059578e-01 8.13026376e-02 1.44384878e+02] [-1.91664571e-01 9.81378202e-01 -1.27089493e-02 -2.51017145e+01] [-8.22295117e-02 -3.15335927e-03 9.96608430e-01 -1.71387048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.13629675700003 meters 0.07331886286703058 Centerline is valid? [True, True] Translation: X:144.42, Y:-25.11, Z:-17.14 [[ 9.78178666e-01 1.91394727e-01 8.08366046e-02 1.44415989e+02] [-1.91002423e-01 9.81508299e-01 -1.26306282e-02 -2.51103190e+01] [-8.17592339e-02 -3.08497631e-03 9.96647335e-01 -1.71386022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.16629675700003 meters 0.07373574883877577 Centerline is valid? [True, True] Translation: X:144.45, Y:-25.11, Z:-17.14 [[ 9.78412704e-01 1.90370697e-01 8.04212618e-02 1.44447074e+02] [-1.89977022e-01 9.81707815e-01 -1.25895615e-02 -2.51121898e+01] [-8.13468648e-02 -2.96040491e-03 9.96681455e-01 -1.71434369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.19629675700003 meters 0.07296629160866823 Centerline is valid? [True, True] Translation: X:144.48, Y:-25.12, Z:-17.14 [[ 9.78640924e-01 1.89383462e-01 7.99740319e-02 1.44478951e+02] [-1.88990184e-01 9.81899058e-01 -1.25279939e-02 -2.51178596e+01] [-8.08990214e-02 -2.85389949e-03 9.96718217e-01 -1.71446589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.22629675700003 meters 0.07318487702193503 Centerline is valid? [True, True] Translation: X:144.51, Y:-25.12, Z:-17.15 [[ 9.78738915e-01 1.89154938e-01 7.93129625e-02 1.44510294e+02] [-1.88765877e-01 9.81943282e-01 -1.24432433e-02 -2.51175175e+01] [-8.02345316e-02 -2.79289452e-03 9.96772100e-01 -1.71509852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.25629675700003 meters 0.07306382002134092 Centerline is valid? [True, True] Translation: X:144.54, Y:-25.12, Z:-17.15 [[ 9.78642921e-01 1.89841143e-01 7.88566599e-02 1.44541862e+02] [-1.89456870e-01 9.81810801e-01 -1.23954029e-02 -2.51211770e+01] [-7.97754779e-02 -2.80926269e-03 9.96808899e-01 -1.71537307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.28629675700003 meters 0.07306382002134092 Centerline is valid? [True, True] Translation: X:144.57, Y:-25.13, Z:-17.16 [[ 9.78590360e-01 1.90113080e-01 7.88538137e-02 1.44573683e+02] [-1.89728233e-01 9.81758169e-01 -1.24134781e-02 -2.51262750e+01] [-7.97753403e-02 -2.81308469e-03 9.96808899e-01 -1.71573482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.31629675700003 meters 0.07352715793112592 Centerline is valid? [True, True] Translation: X:144.60, Y:-25.13, Z:-17.16 [[ 9.78572973e-01 1.90642466e-01 7.77842283e-02 1.44604725e+02] [-1.90267810e-01 9.81655562e-01 -1.22685626e-02 -2.51267549e+01] [-7.86962294e-02 -2.79415101e-03 9.96894727e-01 -1.71623924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.34629675700003 meters 0.07294902447511334 Centerline is valid? [True, True] Translation: X:144.64, Y:-25.13, Z:-17.16 [[ 9.78440694e-01 1.91655060e-01 7.69554792e-02 1.44636125e+02] [-1.91290178e-01 9.81458271e-01 -1.21544139e-02 -2.51340988e+01] [-7.78580465e-02 -2.82845414e-03 9.96960443e-01 -1.71621084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.37629675700003 meters 0.07285680927638898 Centerline is valid? [True, True] Translation: X:144.67, Y:-25.14, Z:-17.16 [[ 9.78405129e-01 1.92278346e-01 7.58448511e-02 1.44668237e+02] [-1.91924344e-01 9.81336384e-01 -1.19978477e-02 -2.51357405e+01] [-7.67362382e-02 -2.81771751e-03 9.97047446e-01 -1.71648684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.40629675700004 meters 0.07311187063188547 Centerline is valid? [True, True] Translation: X:144.70, Y:-25.14, Z:-17.17 [[ 9.78216759e-01 1.93307526e-01 7.56582570e-02 1.44698823e+02] [-1.92956821e-01 9.81134014e-01 -1.19880278e-02 -2.51370290e+01] [-7.65482654e-02 -2.87188706e-03 9.97061741e-01 -1.71694859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.43629675700004 meters 0.07316007823480745 Centerline is valid? [True, True] Translation: X:144.73, Y:-25.14, Z:-17.17 [[ 9.78013862e-01 1.95181471e-01 7.34375878e-02 1.44729891e+02] [-1.94854861e-01 9.80762828e-01 -1.16558279e-02 -2.51391282e+01] [-7.42998579e-02 -2.91010972e-03 9.97231699e-01 -1.71705033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.466296757 meters 0.07346445847241023 Centerline is valid? [True, True] Translation: X:144.76, Y:-25.14, Z:-17.17 [[ 9.77880397e-01 1.95638028e-01 7.39979079e-02 1.44760479e+02] [-1.95306999e-01 9.80671715e-01 -1.17543167e-02 -2.51415816e+01] [-7.48672465e-02 -2.95799346e-03 9.97189122e-01 -1.71743970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.496296757 meters 0.07272477124740018 Centerline is valid? [True, True] Translation: X:144.79, Y:-25.15, Z:-17.18 [[ 9.77604292e-01 1.96321153e-01 7.58145995e-02 1.44791984e+02] [-1.95975164e-01 9.80534820e-01 -1.20499832e-02 -2.51486335e+01] [-7.67045213e-02 -3.07766327e-03 9.97049118e-01 -1.71758585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.526296757 meters 0.072975163357268 Centerline is valid? [True, True] Translation: X:144.82, Y:-25.15, Z:-17.18 [[ 9.77596465e-01 1.96441816e-01 7.56026686e-02 1.44823383e+02] [-1.96096658e-01 9.80510709e-01 -1.20353608e-02 -2.51511699e+01] [-7.64934744e-02 -3.05970445e-03 9.97065387e-01 -1.71785104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.556296757 meters 0.07313873098556602 Centerline is valid? [True, True] Translation: X:144.85, Y:-25.15, Z:-17.18 [[ 9.77474614e-01 1.96560752e-01 7.68586297e-02 1.44854127e+02] [-1.96202573e-01 9.80486755e-01 -1.22586015e-02 -2.51522346e+01] [-7.77684284e-02 -3.09738911e-03 9.96966638e-01 -1.71824198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.586296757 meters 0.07320098733735562 Centerline is valid? [True, True] Translation: X:144.89, Y:-25.16, Z:-17.19 [[ 9.77371580e-01 1.97356328e-01 7.61266954e-02 1.44885589e+02] [-1.97006014e-01 9.80326877e-01 -1.21591219e-02 -2.51555845e+01] [-7.70287253e-02 -3.11343660e-03 9.97024013e-01 -1.71862736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.61629675700001 meters 0.07398411315544885 Centerline is valid? [True, True] Translation: X:144.92, Y:-25.16, Z:-17.19 [[ 9.77149892e-01 1.98143175e-01 7.69244483e-02 1.44917732e+02] [-1.97786400e-01 9.80167897e-01 -1.23058443e-02 -2.51563158e+01] [-7.78371938e-02 -3.18995523e-03 9.96960980e-01 -1.71928553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.64629675700002 meters 0.07375791921489508 Centerline is valid? [True, True] Translation: X:144.95, Y:-25.16, Z:-17.20 [[ 9.76914387e-01 1.99448790e-01 7.65405763e-02 1.44949163e+02] [-1.99097860e-01 9.79902842e-01 -1.22663250e-02 -2.51601070e+01] [-7.74488319e-02 -3.25591563e-03 9.96991012e-01 -1.71953348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.67629675700002 meters 0.07360516322560673 Centerline is valid? [True, True] Translation: X:144.98, Y:-25.16, Z:-17.20 [[ 9.76689198e-01 2.00347690e-01 7.70649936e-02 1.44981214e+02] [-1.99993402e-01 9.79719190e-01 -1.23672395e-02 -2.51644986e+01] [-7.79798009e-02 -3.33354105e-03 9.96949366e-01 -1.71978012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.70629675700002 meters 0.0738870011745938 Centerline is valid? [True, True] Translation: X:145.01, Y:-25.17, Z:-17.20 [[ 9.76435257e-01 2.01670399e-01 7.68325451e-02 1.45012450e+02] [-2.01320621e-01 9.79447518e-01 -1.23517981e-02 -2.51657927e+01] [-7.77444377e-02 -3.40724450e-03 9.96967499e-01 -1.72025266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.73629675700002 meters 0.07442508564301432 Centerline is valid? [True, True] Translation: X:145.04, Y:-25.17, Z:-17.21 [[ 9.76055164e-01 2.03179317e-01 7.76819345e-02 1.45043381e+02] [-2.02825063e-01 9.79135115e-01 -1.25068128e-02 -2.51651419e+01] [-7.86022355e-02 -3.54850405e-03 9.96899743e-01 -1.72080312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76629675700002 meters 0.07465283736936774 Centerline is valid? [True, True] Translation: X:145.08, Y:-25.17, Z:-17.21 [[ 9.75896439e-01 2.04235601e-01 7.69022749e-02 1.45075219e+02] [-2.03890378e-01 9.78915216e-01 -1.23981213e-02 -2.51678077e+01] [-7.78129448e-02 -3.58035151e-03 9.96961547e-01 -1.72131898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79629675700002 meters 0.07489015961949667 Centerline is valid? [True, True] Translation: X:145.11, Y:-25.17, Z:-17.22 [[ 9.75622724e-01 2.05670860e-01 7.65493098e-02 1.45106951e+02] [-2.05331750e-01 9.78614381e-01 -1.23598756e-02 -2.51708453e+01] [-7.74543217e-02 -3.65942822e-03 9.96989186e-01 -1.72171234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82629675700002 meters 0.07437126709820926 Centerline is valid? [True, True] Translation: X:145.14, Y:-25.18, Z:-17.22 [[ 9.75186994e-01 2.07366658e-01 7.75202881e-02 1.45138555e+02] [-2.07022758e-01 9.78255817e-01 -1.25352765e-02 -2.51769138e+01] [-7.84340712e-02 -3.82422528e-03 9.96911968e-01 -1.72171945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85629675700002 meters 0.07497343939539775 Centerline is valid? [True, True] Translation: X:145.17, Y:-25.18, Z:-17.22 [[ 9.74670953e-01 2.09712345e-01 7.76998453e-02 1.45170595e+02] [-2.09372264e-01 9.77754956e-01 -1.25897430e-02 -2.51782761e+01] [-7.86116333e-02 -3.99733576e-03 9.96897303e-01 -1.72207695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.88629675700003 meters 0.07516244599785861 Centerline is valid? [True, True] Translation: X:145.20, Y:-25.18, Z:-17.22 [[ 9.74482300e-01 2.10766860e-01 7.72112519e-02 1.45202113e+02] [-2.10434362e-01 9.77527940e-01 -1.25102736e-02 -2.51812366e+01] [-7.81129070e-02 -4.05686033e-03 9.96936265e-01 -1.72237807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.91629675700003 meters 0.07612676873960629 Centerline is valid? [True, True] Translation: X:145.23, Y:-25.18, Z:-17.23 [[ 9.74117637e-01 2.12784347e-01 7.62735271e-02 1.45233383e+02] [-2.12464062e-01 9.77090407e-01 -1.23837787e-02 -2.51809403e+01] [-7.71612059e-02 -4.14212620e-03 9.97010026e-01 -1.72289370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.94629675700003 meters 0.0782102284657258 Centerline is valid? [True, True] Translation: X:145.26, Y:-25.18, Z:-17.24 [[ 9.73982276e-01 2.13530767e-01 7.59153289e-02 1.45264744e+02] [-2.13215675e-01 9.76927395e-01 -1.23264639e-02 -2.51786093e+01] [-7.67958437e-02 -4.18058070e-03 9.97038074e-01 -1.72361260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.97629675700003 meters 0.07870441375024803 Centerline is valid? [True, True] Translation: X:145.30, Y:-25.18, Z:-17.24 [[ 9.73884788e-01 2.13921468e-01 7.60659236e-02 1.45297488e+02] [-2.13605887e-01 9.76841770e-01 -1.23563980e-02 -2.51826123e+01] [-7.69476703e-02 -4.21442109e-03 9.97026226e-01 -1.72407775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.00629675700003 meters 0.07892273479753119 Centerline is valid? [True, True] Translation: X:145.33, Y:-25.19, Z:-17.25 [[ 9.74028544e-01 2.13611512e-01 7.50900602e-02 1.45329051e+02] [-2.13301520e-01 9.76910016e-01 -1.22180748e-02 -2.51861614e+01] [-7.59661533e-02 -4.11607037e-03 9.97101901e-01 -1.72450041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.03629675700003 meters 0.0767287703212758 Centerline is valid? [True, True] Translation: X:145.36, Y:-25.20, Z:-17.24 [[ 9.74196310e-01 2.12714537e-01 7.54591020e-02 1.45360467e+02] [-2.12397074e-01 9.77106019e-01 -1.23008187e-02 -2.51983256e+01] [-7.63481057e-02 -4.04388028e-03 9.97073023e-01 -1.72440795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.06629675700003 meters 0.07601073131061764 Centerline is valid? [True, True] Translation: X:145.39, Y:-25.21, Z:-17.25 [[ 9.74772501e-01 2.09401159e-01 7.72640015e-02 1.45390772e+02] [-2.09056864e-01 9.77822193e-01 -1.26089486e-02 -2.52067704e+01] [-7.81907838e-02 -3.86171354e-03 9.96930935e-01 -1.72469766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.09629675700003 meters 0.07615044119498042 Centerline is valid? [True, True] Translation: X:145.42, Y:-25.21, Z:-17.25 [[ 9.75022781e-01 2.07871012e-01 7.82318317e-02 1.45420327e+02] [-2.07512928e-01 9.78148929e-01 -1.27694202e-02 -2.52128184e+01] [-7.91767746e-02 -3.78364084e-03 9.96853411e-01 -1.72508253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.12629675700003 meters 0.07523588868364103 Centerline is valid? [True, True] Translation: X:145.45, Y:-25.22, Z:-17.26 [[ 9.76029489e-01 2.02887384e-01 7.87600574e-02 1.45450320e+02] [-2.02508178e-01 9.79196172e-01 -1.28567250e-02 -2.52220189e+01] [-7.97300140e-02 -3.40101303e-03 9.96810693e-01 -1.72551433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.15629675700004 meters 0.07475608120771127 Centerline is valid? [True, True] Translation: X:145.48, Y:-25.23, Z:-17.26 [[ 9.76329182e-01 2.01412551e-01 7.88309055e-02 1.45481502e+02] [-2.01028224e-01 9.79500982e-01 -1.28638639e-02 -2.52303530e+01] [-7.98058930e-02 -3.28787119e-03 9.96805001e-01 -1.72581060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.18629675700004 meters 0.07432249804651724 Centerline is valid? [True, True] Translation: X:145.51, Y:-25.24, Z:-17.26 [[ 9.77048045e-01 1.97876277e-01 7.88802637e-02 1.45511591e+02] [-1.97478009e-01 9.80222484e-01 -1.28964181e-02 -2.52410398e+01] [-7.98721032e-02 -2.97669739e-03 9.96800675e-01 -1.72617591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.21629675700004 meters 0.0737867728242226 Centerline is valid? [True, True] Translation: X:145.54, Y:-25.25, Z:-17.26 [[ 9.77383060e-01 1.95881802e-01 7.97036651e-02 1.45542151e+02] [-1.95468225e-01 9.80623403e-01 -1.30351266e-02 -2.52507277e+01] [-8.07126234e-02 -2.83922203e-03 9.96733370e-01 -1.72642205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.246296757 meters 0.07346143974434906 Centerline is valid? [True, True] Translation: X:145.57, Y:-25.26, Z:-17.27 [[ 9.78066005e-01 1.91632675e-01 8.16321471e-02 1.45571154e+02] [-1.91183606e-01 9.81463421e-01 -1.33559447e-02 -2.52622407e+01] [-8.26784018e-02 -2.54373277e-03 9.96573034e-01 -1.72686759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.276296757 meters 0.07342788973497141 Centerline is valid? [True, True] Translation: X:145.60, Y:-25.27, Z:-17.27 [[ 9.78579609e-01 1.88962791e-01 8.17007445e-02 1.45601509e+02] [-1.88503669e-01 9.81981508e-01 -1.33673117e-02 -2.52721845e+01] [-8.27545448e-02 -2.31991147e-03 9.96567260e-01 -1.72734862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.306296757 meters 0.07337748817762914 Centerline is valid? [True, True] Translation: X:145.63, Y:-25.28, Z:-17.28 [[ 9.78761150e-01 1.88159928e-01 8.13784505e-02 1.45632281e+02] [-1.87701763e-01 9.82135838e-01 -1.33132966e-02 -2.52801182e+01] [-8.24297216e-02 -2.24434113e-03 9.96594353e-01 -1.72766664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.336296757 meters 0.07345503457500513 Centerline is valid? [True, True] Translation: X:145.66, Y:-25.29, Z:-17.28 [[ 9.78873541e-01 1.87832128e-01 8.07816899e-02 1.45664454e+02] [-1.87378023e-01 9.82198722e-01 -1.32342760e-02 -2.52877894e+01] [-8.18294949e-02 -2.18203071e-03 9.96643955e-01 -1.72809912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.36629675700001 meters 0.07387573112816535 Centerline is valid? [True, True] Translation: X:145.69, Y:-25.30, Z:-17.29 [[ 9.79188858e-01 1.86273672e-01 8.05686035e-02 1.45694502e+02] [-1.85814765e-01 9.82495815e-01 -1.32229655e-02 -2.52979111e+01] [-8.16214061e-02 -2.02305564e-03 9.96661353e-01 -1.72856322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.39629675700002 meters 0.07383053616937953 Centerline is valid? [True, True] Translation: X:145.73, Y:-25.31, Z:-17.29 [[ 9.79363242e-01 1.85444311e-01 8.03619756e-02 1.45725801e+02] [-1.84983379e-01 9.82652881e-01 -1.32085523e-02 -2.53053002e+01] [-8.14173777e-02 -1.92965915e-03 9.96678226e-01 -1.72897684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.42629675700002 meters 0.07434628159771108 Centerline is valid? [True, True] Translation: X:145.76, Y:-25.31, Z:-17.29 [[ 9.79266626e-01 1.86589642e-01 7.88744613e-02 1.45756450e+02] [-1.86147798e-01 9.82435968e-01 -1.29832779e-02 -2.53119451e+01] [-7.99116529e-02 -1.96821657e-03 9.96800007e-01 -1.72937466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.45629675700002 meters 0.07464774053337156 Centerline is valid? [True, True] Translation: X:145.79, Y:-25.32, Z:-17.30 [[ 9.78940751e-01 1.88393095e-01 7.86323603e-02 1.45787884e+02] [-1.87958406e-01 9.82091475e-01 -1.29604325e-02 -2.53163585e+01] [-7.96658267e-02 -2.09211766e-03 9.96819432e-01 -1.72982678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48629675700002 meters 0.07540077618185544 Centerline is valid? [True, True] Translation: X:145.82, Y:-25.32, Z:-17.30 [[ 9.78281568e-01 1.91560031e-01 7.91828754e-02 1.45818478e+02] [-1.91128022e-01 9.81478091e-01 -1.30703987e-02 -2.53183328e+01] [-8.02200234e-02 -2.34753626e-03 9.96774416e-01 -1.73038242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51629675700002 meters 0.07571379747047681 Centerline is valid? [True, True] Translation: X:145.85, Y:-25.32, Z:-17.31 [[ 9.77764496e-01 1.93752901e-01 8.02272045e-02 1.45849963e+02] [-1.93315183e-01 9.81047070e-01 -1.32622512e-02 -2.53220872e+01] [-8.12762635e-02 -2.54177842e-03 9.96688371e-01 -1.73080847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54629675700002 meters 0.0770421771138253 Centerline is valid? [True, True] Translation: X:145.88, Y:-25.32, Z:-17.31 [[ 9.76627520e-01 1.99238426e-01 8.06395487e-02 1.45879764e+02] [-1.98812854e-01 9.79946483e-01 -1.33543689e-02 -2.53220611e+01] [-8.16831456e-02 -2.98993458e-03 9.96653864e-01 -1.73119586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57629675700002 meters 0.07753770309072425 Centerline is valid? [True, True] Translation: X:145.91, Y:-25.33, Z:-17.32 [[ 9.76113607e-01 2.01534947e-01 8.11535055e-02 1.45911401e+02] [-2.01111260e-01 9.79476112e-01 -1.34464783e-02 -2.53252992e+01] [-8.21978553e-02 -3.19559332e-03 9.96610907e-01 -1.73155954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60629675700002 meters 0.07866166872894975 Centerline is valid? [True, True] Translation: X:145.94, Y:-25.32, Z:-17.32 [[ 9.75173368e-01 2.05515383e-01 8.24641122e-02 1.45941387e+02] [-2.05091435e-01 9.78647334e-01 -1.36711114e-02 -2.53245485e+01] [-8.35129072e-02 -3.58097933e-03 9.96500261e-01 -1.73201602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.63629675700003 meters 0.07893374276706476 Centerline is valid? [True, True] Translation: X:145.97, Y:-25.33, Z:-17.32 [[ 9.74737225e-01 2.07271490e-01 8.32218212e-02 1.45972767e+02] [-2.06846606e-01 9.78276189e-01 -1.37905714e-02 -2.53281142e+01] [-8.42723184e-02 -3.77196793e-03 9.96435622e-01 -1.73235218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.66629675700003 meters 0.07994845787454484 Centerline is valid? [True, True] Translation: X:146.00, Y:-25.33, Z:-17.33 [[ 9.74128192e-01 2.09860845e-01 8.38611400e-02 1.46004439e+02] [-2.09436998e-01 9.77723065e-01 -1.39194839e-02 -2.53283271e+01] [-8.49141254e-02 -4.00426377e-03 9.96380227e-01 -1.73289065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.69629675700003 meters 0.07821974265335795 Centerline is valid? [True, True] Translation: X:146.04, Y:-25.34, Z:-17.33 [[ 9.73730266e-01 2.11479305e-01 8.44148883e-02 1.46035086e+02] [-2.11055370e-01 9.77373593e-01 -1.40175089e-02 -2.53384272e+01] [-8.54692958e-02 -4.16694282e-03 9.96332091e-01 -1.73281699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.72629675700003 meters 0.07753090560604883 Centerline is valid? [True, True] Translation: X:146.07, Y:-25.35, Z:-17.33 [[ 9.73429138e-01 2.12354877e-01 8.56803318e-02 1.46066832e+02] [-2.11919902e-01 9.77183199e-01 -1.42460960e-02 -2.53461629e+01] [-8.67506086e-02 -4.28980252e-03 9.96220824e-01 -1.73301436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.75629675700003 meters 0.0784043304656795 Centerline is valid? [True, True] Translation: X:146.10, Y:-25.35, Z:-17.33 [[ 9.73149005e-01 2.13198437e-01 8.67608260e-02 1.46098347e+02] [-2.12753464e-01 9.76999033e-01 -1.44517389e-02 -2.53472502e+01] [-8.78463313e-02 -4.39497098e-03 9.96124343e-01 -1.73336789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.78629675700003 meters 0.07676933537572704 Centerline is valid? [True, True] Translation: X:146.13, Y:-25.36, Z:-17.34 [[ 9.73070662e-01 2.12774962e-01 8.86583468e-02 1.46129268e+02] [-2.12306332e-01 9.77091195e-01 -1.47924993e-02 -2.53560069e+01] [-8.97747635e-02 -4.42858131e-03 9.95952248e-01 -1.73350759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.81629675700003 meters 0.07711127801258996 Centerline is valid? [True, True] Translation: X:146.16, Y:-25.36, Z:-17.34 [[ 9.73293687e-01 2.12175830e-01 8.76402658e-02 1.46160444e+02] [-2.11713284e-01 9.77222053e-01 -1.46473481e-02 -2.53585802e+01] [-8.87518137e-02 -4.29843700e-03 9.96044496e-01 -1.73393581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.84629675700003 meters 0.07646678501925533 Centerline is valid? [True, True] Translation: X:146.19, Y:-25.37, Z:-17.34 [[ 9.73685088e-01 2.10617621e-01 8.70492176e-02 1.46191171e+02] [-2.10154200e-01 9.77559849e-01 -1.45586447e-02 -2.53660189e+01] [-8.81621271e-02 -4.11822348e-03 9.96097626e-01 -1.73433468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.87629675700003 meters 0.07643717727437488 Centerline is valid? [True, True] Translation: X:146.22, Y:-25.37, Z:-17.35 [[ 9.74648155e-01 2.06641989e-01 8.57908027e-02 1.46220879e+02] [-2.06174208e-01 9.78409712e-01 -1.43747064e-02 -2.53719863e+01] [-8.69089724e-02 -3.67756968e-03 9.96209469e-01 -1.73480175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.90629675700004 meters 0.07594270908323718 Centerline is valid? [True, True] Translation: X:146.25, Y:-25.38, Z:-17.35 [[ 9.75150253e-01 2.04080842e-01 8.62148139e-02 1.46251536e+02] [-2.03598204e-01 9.78947911e-01 -1.44484924e-02 -2.53790622e+01] [-8.73484725e-02 -3.46373028e-03 9.96171796e-01 -1.73510567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.93629675700004 meters 0.07521543776424795 Centerline is valid? [True, True] Translation: X:146.28, Y:-25.39, Z:-17.35 [[ 9.76293200e-01 1.99596022e-01 8.37437541e-02 1.46281747e+02] [-1.99123812e-01 9.79873774e-01 -1.40390646e-02 -2.53888938e+01] [-8.48604498e-02 -2.96913219e-03 9.96388422e-01 -1.73532022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.96629675700004 meters 0.07538352722491615 Centerline is valid? [True, True] Translation: X:146.31, Y:-25.39, Z:-17.36 [[ 9.76841258e-01 1.97518176e-01 8.22661991e-02 1.46311884e+02] [-1.97055147e-01 9.80295398e-01 -1.37913423e-02 -2.53939159e+01] [-8.33692172e-02 -2.73902575e-03 9.96514963e-01 -1.73583157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.996296757 meters 0.07479516036766012 Centerline is valid? [True, True] Translation: X:146.34, Y:-25.40, Z:-17.36 [[ 9.77887359e-01 1.93057647e-01 8.04055806e-02 1.46342084e+02] [-1.92599263e-01 9.81184738e-01 -1.34919944e-02 -2.54017050e+01] [-8.14974612e-02 -2.29240477e-03 9.96670913e-01 -1.73617595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.026296757 meters 0.07501275260676347 Centerline is valid? [True, True] Translation: X:146.37, Y:-25.41, Z:-17.37 [[ 9.78131884e-01 1.91200300e-01 8.18563560e-02 1.46371935e+02] [-1.90717886e-01 9.81548649e-01 -1.37454260e-02 -2.54057819e+01] [-8.29741252e-02 -2.16663179e-03 9.96549347e-01 -1.73665073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.056296757 meters 0.07435092438092639 Centerline is valid? [True, True] Translation: X:146.40, Y:-25.41, Z:-17.37 [[ 9.78620443e-01 1.88168489e-01 8.30340192e-02 1.46402984e+02] [-1.87661141e-01 9.82134853e-01 -1.39437098e-02 -2.54128859e+01] [-8.41743711e-02 -1.93665933e-03 9.96449158e-01 -1.73668682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.086296757 meters 0.0742640349613095 Centerline is valid? [True, True] Translation: X:146.44, Y:-25.42, Z:-17.37 [[ 9.78610156e-01 1.87759028e-01 8.40756174e-02 1.46435011e+02] [-1.87237034e-01 9.82213243e-01 -1.41222924e-02 -2.54180518e+01] [-8.52317726e-02 -1.92185052e-03 9.96359298e-01 -1.73705709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.11629675700001 meters 0.07433225275706398 Centerline is valid? [True, True] Translation: X:146.47, Y:-25.42, Z:-17.37 [[ 9.78649885e-01 1.87384199e-01 8.44485873e-02 1.46465878e+02] [-1.86855628e-01 9.82284879e-01 -1.41911985e-02 -2.54209463e+01] [-8.56117767e-02 -1.89147899e-03 9.96326777e-01 -1.73744364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.14629675700002 meters 0.07417835673628681 Centerline is valid? [True, True] Translation: X:146.50, Y:-25.42, Z:-17.38 [[ 9.78564193e-01 1.88080550e-01 8.38917597e-02 1.46497748e+02] [-1.87560709e-01 9.82151709e-01 -1.41067436e-02 -2.54248217e+01] [-8.50476393e-02 -1.93044381e-03 9.96375016e-01 -1.73778085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.17629675700002 meters 0.07417835673628681 Centerline is valid? [True, True] Translation: X:146.53, Y:-25.43, Z:-17.38 [[ 9.78513213e-01 1.88347028e-01 8.38885547e-02 1.46529504e+02] [-1.87826533e-01 9.82100634e-01 -1.41257733e-02 -2.54302541e+01] [-8.50475502e-02 -1.93424061e-03 9.96375016e-01 -1.73814242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.20629675700002 meters 0.07396470171369884 Centerline is valid? [True, True] Translation: X:146.56, Y:-25.43, Z:-17.38 [[ 9.78128296e-01 1.90537109e-01 8.34304960e-02 1.46561086e+02] [-1.90028175e-01 9.81677771e-01 -1.40729101e-02 -2.54324504e+01] [-8.45832749e-02 -2.08903326e-03 9.96414224e-01 -1.73848116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23629675700002 meters 0.07442880543570082 Centerline is valid? [True, True] Translation: X:146.59, Y:-25.43, Z:-17.39 [[ 9.77805007e-01 1.91950855e-01 8.39775968e-02 1.46592483e+02] [-1.91438698e-01 9.81402059e-01 -1.41852980e-02 -2.54327991e+01] [-8.51386665e-02 -2.20610636e-03 9.96366670e-01 -1.73909147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26629675700002 meters 0.07492806972527938 Centerline is valid? [True, True] Translation: X:146.62, Y:-25.43, Z:-17.39 [[ 9.77020202e-01 1.95402089e-01 8.51442782e-02 1.46623461e+02] [-1.94886859e-01 9.80719973e-01 -1.44029930e-02 -2.54329512e+01] [-8.63170692e-02 -2.52148580e-03 9.96264526e-01 -1.73944549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29629675700002 meters 0.07515985039218769 Centerline is valid? [True, True] Translation: X:146.66, Y:-25.44, Z:-17.40 [[ 9.76498265e-01 1.98059642e-01 8.49912717e-02 1.46655574e+02] [-1.97554321e-01 9.80186172e-01 -1.43999567e-02 -2.54357962e+01] [-8.61593195e-02 -2.72886024e-03 9.96277634e-01 -1.73973720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32629675700002 meters 0.07465876030900997 Centerline is valid? [True, True] Translation: X:146.69, Y:-25.44, Z:-17.40 [[ 9.76046681e-01 2.00311950e-01 8.48999390e-02 1.46686558e+02] [-1.99815835e-01 9.79727817e-01 -1.43887862e-02 -2.54424518e+01] [-8.60610777e-02 -2.92022511e-03 9.96285583e-01 -1.73983740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35629675700002 meters 0.07519373366279979 Centerline is valid? [True, True] Translation: X:146.72, Y:-25.44, Z:-17.40 [[ 9.75271898e-01 2.04385796e-01 8.40902589e-02 1.46716398e+02] [-2.03913012e-01 9.78885072e-01 -1.42653144e-02 -2.54420066e+01] [-8.52303268e-02 -3.23453774e-03 9.96356025e-01 -1.74028593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.38629675700003 meters 0.07540737110771908 Centerline is valid? [True, True] Translation: X:146.75, Y:-25.44, Z:-17.41 [[ 9.74621522e-01 2.07924683e-01 8.29470579e-02 1.46747493e+02] [-2.07477714e-01 9.78138582e-01 -1.40681163e-02 -2.54431366e+01] [-8.40588263e-02 -3.49857711e-03 9.96454652e-01 -1.74072610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.41629675700003 meters 0.0757865854020072 Centerline is valid? [True, True] Translation: X:146.78, Y:-25.45, Z:-17.41 [[ 9.74273384e-01 2.09151223e-01 8.39472467e-02 1.46779053e+02] [-2.08697172e-01 9.77876537e-01 -1.42467215e-02 -2.54470020e+01] [-8.50697621e-02 -3.63935145e-03 9.96368351e-01 -1.74120956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.44629675700003 meters 0.07591917058123734 Centerline is valid? [True, True] Translation: X:146.81, Y:-25.45, Z:-17.42 [[ 9.74217022e-01 2.09737859e-01 8.31337784e-02 1.46809193e+02] [-2.09292938e-01 9.77750901e-01 -1.41294887e-02 -2.54525940e+01] [-8.42476154e-02 -3.63412427e-03 9.96438223e-01 -1.74150799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.47629675700003 meters 0.07580859762768759 Centerline is valid? [True, True] Translation: X:146.84, Y:-25.46, Z:-17.42 [[ 9.74323980e-01 2.09240578e-01 8.31333984e-02 1.46840249e+02] [-2.08792273e-01 9.77857667e-01 -1.41481598e-02 -2.54586161e+01] [-8.42530001e-02 -3.57271986e-03 9.96437990e-01 -1.74186213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.50629675700003 meters 0.07536236672248647 Centerline is valid? [True, True] Translation: X:146.87, Y:-25.47, Z:-17.42 [[ 9.74855660e-01 2.06942754e-01 8.26506983e-02 1.46870478e+02] [-2.06489267e-01 9.78347388e-01 -1.40915012e-02 -2.54662270e+01] [-8.37772289e-02 -3.32930240e-03 9.96478947e-01 -1.74210438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.53629675700003 meters 0.07471383911654335 Centerline is valid? [True, True] Translation: X:146.90, Y:-25.48, Z:-17.42 [[ 9.75061429e-01 2.06268328e-01 8.19059670e-02 1.46901507e+02] [-2.05820875e-01 9.78490086e-01 -1.39613427e-02 -2.54753297e+01] [-8.30239595e-02 -3.24479099e-03 9.96542269e-01 -1.74227528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.56629675700003 meters 0.07553828675873285 Centerline is valid? [True, True] Translation: X:146.93, Y:-25.48, Z:-17.43 [[ 9.75217281e-01 2.05259754e-01 8.25813993e-02 1.46932070e+02] [-2.04799463e-01 9.78702418e-01 -1.40981111e-02 -2.54770090e+01] [-8.37163900e-02 -3.16390464e-03 9.96484599e-01 -1.74281736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.59629675700003 meters 0.07479160519248493 Centerline is valid? [True, True] Translation: X:146.96, Y:-25.49, Z:-17.43 [[ 9.75187630e-01 2.05061547e-01 8.34197157e-02 1.46962934e+02] [-2.04589508e-01 9.78743978e-01 -1.42603769e-02 -2.54852833e+01] [-8.45707993e-02 -3.16025545e-03 9.96412461e-01 -1.74293515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.62629675700003 meters 0.0750153602946682 Centerline is valid? [True, True] Translation: X:146.99, Y:-25.49, Z:-17.43 [[ 9.75132924e-01 2.04855154e-01 8.45585433e-02 1.46993308e+02] [-2.04367473e-01 9.78787185e-01 -1.44769374e-02 -2.54904188e+01] [-8.57304938e-02 -3.16407746e-03 9.96313340e-01 -1.74329367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.65629675700004 meters 0.07506260532191454 Centerline is valid? [True, True] Translation: X:147.03, Y:-25.50, Z:-17.44 [[ 9.75333778e-01 2.04732103e-01 8.25153753e-02 1.47025154e+02] [-2.04265784e-01 9.78813266e-01 -1.41449939e-02 -2.54956046e+01] [-8.36630783e-02 -3.05897744e-03 9.96489404e-01 -1.74363881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.68629675700004 meters 0.07631615113836056 Centerline is valid? [True, True] Translation: X:147.06, Y:-25.50, Z:-17.44 [[ 9.75372103e-01 2.04952980e-01 8.15078869e-02 1.47055555e+02] [-2.04497081e-01 9.78767160e-01 -1.39924946e-02 -2.54967969e+01] [-8.26450465e-02 -3.02023606e-03 9.96574470e-01 -1.74435737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.71629675700004 meters 0.07568818803482867 Centerline is valid? [True, True] Translation: X:147.09, Y:-25.50, Z:-17.45 [[ 9.75570832e-01 2.04688108e-01 7.97767475e-02 1.47086647e+02] [-2.04249115e-01 9.78822900e-01 -1.37123721e-02 -2.55042556e+01] [-8.08940668e-02 -2.91693982e-03 9.96718436e-01 -1.74461706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.746296757 meters 0.07596933022126555 Centerline is valid? [True, True] Translation: X:147.12, Y:-25.51, Z:-17.45 [[ 9.75731317e-01 2.04383388e-01 7.85864366e-02 1.47117212e+02] [-2.03954890e-01 9.78886829e-01 -1.35269282e-02 -2.55093148e+01] [-7.96919072e-02 -2.82944061e-03 9.96815527e-01 -1.74504250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.776296757 meters 0.07622566822997205 Centerline is valid? [True, True] Translation: X:147.15, Y:-25.52, Z:-17.45 [[ 9.75684616e-01 2.04703752e-01 7.83320156e-02 1.47148322e+02] [-2.04277710e-01 9.78819885e-01 -1.35000234e-02 -2.55150023e+01] [-7.94364399e-02 -2.82971960e-03 9.96835917e-01 -1.74545559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.806296757 meters 0.07592334763818094 Centerline is valid? [True, True] Translation: X:147.18, Y:-25.52, Z:-17.46 [[ 9.75686308e-01 2.05319288e-01 7.66825866e-02 1.47179955e+02] [-2.04911097e-01 9.78691050e-01 -1.32389756e-02 -2.55225824e+01] [-7.77667783e-02 -2.79602571e-03 9.96967658e-01 -1.74562563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.836296757 meters 0.07637739423447848 Centerline is valid? [True, True] Translation: X:147.21, Y:-25.53, Z:-17.46 [[ 9.75654827e-01 2.05652337e-01 7.61890680e-02 1.47210216e+02] [-2.05250388e-01 9.78621098e-01 -1.31539109e-02 -2.55257120e+01] [-7.72653619e-02 -2.80415911e-03 9.97006620e-01 -1.74609985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.86629675700001 meters 0.07555401463297347 Centerline is valid? [True, True] Translation: X:147.24, Y:-25.53, Z:-17.46 [[ 9.75399383e-01 2.06884069e-01 7.61250659e-02 1.47241398e+02] [-2.06485293e-01 9.78361215e-01 -1.31588998e-02 -2.55343259e+01] [-7.72001787e-02 -2.88352372e-03 9.97011443e-01 -1.74605048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.89629675700002 meters 0.07541573962320232 Centerline is valid? [True, True] Translation: X:147.27, Y:-25.54, Z:-17.46 [[ 9.75327456e-01 2.06745993e-01 7.74109006e-02 1.47273344e+02] [-2.06331188e-01 9.78390364e-01 -1.34065727e-02 -2.55395702e+01] [-7.85098344e-02 -2.89648467e-03 9.96909131e-01 -1.74649972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.92629675700002 meters 0.07569849195820022 Centerline is valid? [True, True] Translation: X:147.30, Y:-25.54, Z:-17.47 [[ 9.74946583e-01 2.08356754e-01 7.78885374e-02 1.47303997e+02] [-2.07941478e-01 9.78048171e-01 -1.34950362e-02 -2.55440995e+01] [-7.89905235e-02 -3.03931814e-03 9.96870734e-01 -1.74691634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.95629675700002 meters 0.07547160474667641 Centerline is valid? [True, True] Translation: X:147.34, Y:-25.55, Z:-17.47 [[ 9.74806559e-01 2.08566254e-01 7.90714214e-02 1.47335357e+02] [-2.08138363e-01 9.78003340e-01 -1.37072438e-02 -2.55494053e+01] [-8.01909827e-02 -3.09588509e-03 9.96774710e-01 -1.74720322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98629675700002 meters 0.0755441592611005 Centerline is valid? [True, True] Translation: X:147.37, Y:-25.55, Z:-17.48 [[ 9.74677726e-01 2.08819382e-01 7.99862212e-02 1.47365838e+02] [-2.08380676e-01 9.77949208e-01 -1.38867184e-02 -2.55536542e+01] [-8.11222776e-02 -3.13250774e-03 9.96699234e-01 -1.74762189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01629675700002 meters 0.07528233031893788 Centerline is valid? [True, True] Translation: X:147.40, Y:-25.56, Z:-17.48 [[ 9.74289358e-01 2.10051700e-01 8.14771724e-02 1.47397766e+02] [-2.09599297e-01 9.77684783e-01 -1.41633103e-02 -2.55602106e+01] [-8.26340190e-02 -3.27839555e-03 9.96574569e-01 -1.74786089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04629675700002 meters 0.07528778002971716 Centerline is valid? [True, True] Translation: X:147.43, Y:-25.57, Z:-17.48 [[ 9.74146071e-01 2.10798189e-01 8.12622700e-02 1.47428856e+02] [-2.10348772e-01 9.77524001e-01 -1.41499738e-02 -2.55655467e+01] [-8.24186081e-02 -3.30927734e-03 9.96592305e-01 -1.74823383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07629675700002 meters 0.075244399981361 Centerline is valid? [True, True] Translation: X:147.46, Y:-25.57, Z:-17.49 [[ 9.73643816e-01 2.12588911e-01 8.26055320e-02 1.47460030e+02] [-2.12129167e-01 9.77135466e-01 -1.44047654e-02 -2.55703293e+01] [-8.37790885e-02 -3.49793189e-03 9.96478213e-01 -1.74859099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10629675700002 meters 0.0750775131948571 Centerline is valid? [True, True] Translation: X:147.49, Y:-25.58, Z:-17.49 [[ 9.73038125e-01 2.15173789e-01 8.30484629e-02 1.47491760e+02] [-2.14716320e-01 9.76568705e-01 -1.45074616e-02 -2.55761926e+01] [-8.42241554e-02 -3.71554712e-03 9.96439906e-01 -1.74886270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.13629675700003 meters 0.07643677167404696 Centerline is valid? [True, True] Translation: X:147.52, Y:-25.58, Z:-17.49 [[ 9.72776110e-01 2.16359712e-01 8.30368327e-02 1.47522455e+02] [-2.15906280e-01 9.76306271e-01 -1.45101033e-02 -2.55756511e+01] [-8.42087823e-02 -3.81309184e-03 9.96440837e-01 -1.74948552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.16629675700003 meters 0.075159797829422 Centerline is valid? [True, True] Translation: X:147.55, Y:-25.59, Z:-17.50 [[ 9.72690962e-01 2.17163276e-01 8.19292598e-02 1.47553236e+02] [-2.16724149e-01 9.76127804e-01 -1.43232132e-02 -2.55860654e+01] [-8.30839043e-02 -3.82398911e-03 9.96535219e-01 -1.74951139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.19629675700003 meters 0.07560446522640922 Centerline is valid? [True, True] Translation: X:147.58, Y:-25.59, Z:-17.50 [[ 9.72566598e-01 2.18304291e-01 8.03582550e-02 1.47582972e+02] [-2.17883585e-01 9.75873272e-01 -1.40747876e-02 -2.55912638e+01] [-8.14920598e-02 -3.82007638e-03 9.96666670e-01 -1.75006305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.22629675700003 meters 0.07515424804473335 Centerline is valid? [True, True] Translation: X:147.61, Y:-25.60, Z:-17.50 [[ 9.72567973e-01 2.18594012e-01 7.95499571e-02 1.47613666e+02] [-2.18182978e-01 9.75808460e-01 -1.39297318e-02 -2.55989751e+01] [-8.06704771e-02 -3.80883546e-03 9.96733549e-01 -1.75031773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.25629675700003 meters 0.0752626065110521 Centerline is valid? [True, True] Translation: X:147.65, Y:-25.61, Z:-17.51 [[ 9.72338747e-01 2.19860893e-01 7.88577714e-02 1.47645166e+02] [-2.19459082e-01 9.75523618e-01 -1.38340861e-02 -2.56053876e+01] [-7.99691930e-02 -3.85463615e-03 9.96789883e-01 -1.75073890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.28629675700003 meters 0.07670797303375698 Centerline is valid? [True, True] Translation: X:147.68, Y:-25.61, Z:-17.51 [[ 9.72115091e-01 2.20354060e-01 8.02267911e-02 1.47676325e+02] [-2.19939521e-01 9.75411919e-01 -1.40781999e-02 -2.56060806e+01] [-8.13563567e-02 -3.95941139e-03 9.96677213e-01 -1.75145322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.31629675700003 meters 0.07589895383325462 Centerline is valid? [True, True] Translation: X:147.71, Y:-25.62, Z:-17.52 [[ 9.71818234e-01 2.21340565e-01 8.11028618e-02 1.47707636e+02] [-2.20919685e-01 9.75188043e-01 -1.42398730e-02 -2.56172235e+01] [-8.22424026e-02 -4.07865043e-03 9.96604010e-01 -1.75156532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.34629675700003 meters 0.07525538616080274 Centerline is valid? [True, True] Translation: X:147.74, Y:-25.63, Z:-17.52 [[ 9.71869840e-01 2.20684804e-01 8.22631859e-02 1.47738433e+02] [-2.20247359e-01 9.75336742e-01 -1.44685895e-02 -2.56266146e+01] [-8.34273056e-02 -4.05666365e-03 9.96505609e-01 -1.75182039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.37629675700003 meters 0.07604994150595648 Centerline is valid? [True, True] Translation: X:147.77, Y:-25.63, Z:-17.52 [[ 9.72134016e-01 2.18782501e-01 8.42001962e-02 1.47767815e+02] [-2.18314673e-01 9.75765623e-01 -1.48375336e-02 -2.56329427e+01] [-8.54058496e-02 -3.95806726e-03 9.96338384e-01 -1.75235364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.40629675700004 meters 0.07476806553604122 Centerline is valid? [True, True] Translation: X:147.80, Y:-25.65, Z:-17.52 [[ 9.72529026e-01 2.16530605e-01 8.54505170e-02 1.47797804e+02] [-2.16040048e-01 9.76268373e-01 -1.50585863e-02 -2.56464471e+01] [-8.66832821e-02 -3.81582157e-03 9.96228612e-01 -1.75249494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.43629675700004 meters 0.07518084335801371 Centerline is valid? [True, True] Translation: X:147.83, Y:-25.65, Z:-17.53 [[ 9.72557148e-01 2.15736364e-01 8.71229871e-02 1.47827790e+02] [-2.15223150e-01 9.76444184e-01 -1.53542117e-02 -2.56519837e+01] [-8.83831958e-02 -3.81803538e-03 9.96079230e-01 -1.75290466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.46629675700004 meters 0.0753144429211447 Centerline is valid? [True, True] Translation: X:147.86, Y:-25.66, Z:-17.53 [[ 9.72736333e-01 2.14353034e-01 8.85257260e-02 1.47857071e+02] [-2.13815125e-01 9.76749142e-01 -1.56271106e-02 -2.56583874e+01] [-8.98171455e-02 -3.72708096e-03 9.95951299e-01 -1.75325354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.496296757 meters 0.07489284576591392 Centerline is valid? [True, True] Translation: X:147.89, Y:-25.67, Z:-17.53 [[ 9.72685665e-01 2.13681960e-01 9.06786448e-02 1.47887488e+02] [-2.13114894e-01 9.76896054e-01 -1.60044462e-02 -2.56690319e+01] [-9.20034717e-02 -3.75767436e-03 9.95751596e-01 -1.75345396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.526296757 meters 0.07481756869695799 Centerline is valid? [True, True] Translation: X:147.92, Y:-25.68, Z:-17.54 [[ 9.72616121e-01 2.13394842e-01 9.20897573e-02 1.47918998e+02] [-2.12806476e-01 9.76958781e-01 -1.62771184e-02 -2.56760556e+01] [-9.34413501e-02 -3.76590888e-03 9.95617664e-01 -1.75382061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.556296757 meters 0.07556053565409514 Centerline is valid? [True, True] Translation: X:147.95, Y:-25.68, Z:-17.54 [[ 9.72152321e-01 2.15161775e-01 9.28723568e-02 1.47948918e+02] [-2.14569123e-01 9.76570448e-01 -1.64393304e-02 -2.56818543e+01] [-9.42335146e-02 -3.94600692e-03 9.95542301e-01 -1.75420535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.586296757 meters 0.07610609294277486 Centerline is valid? [True, True] Translation: X:147.98, Y:-25.69, Z:-17.55 [[ 9.71637681e-01 2.16944123e-01 9.41034744e-02 1.47979506e+02] [-2.16341706e-01 9.76175198e-01 -1.66807725e-02 -2.56858765e+01] [-9.54802733e-02 -4.15083912e-03 9.95422668e-01 -1.75457939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.61629675700001 meters 0.0772156848026142 Centerline is valid? [True, True] Translation: X:148.01, Y:-25.69, Z:-17.55 [[ 9.71000458e-01 2.20360233e-01 9.27333751e-02 1.48010838e+02] [-2.19789515e-01 9.75408600e-01 -1.64508952e-02 -2.56886638e+01] [-9.40780547e-02 -4.40799675e-03 9.95555066e-01 -1.75515087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.64629675700002 meters 0.07724960965111052 Centerline is valid? [True, True] Translation: X:148.04, Y:-25.69, Z:-17.55 [[ 9.70567268e-01 2.22555652e-01 9.20226099e-02 1.48041791e+02] [-2.22003097e-01 9.74909224e-01 -1.63287985e-02 -2.56948913e+01] [-9.33477576e-02 -4.58110708e-03 9.95623026e-01 -1.75548716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.67629675700002 meters 0.07907470885050913 Centerline is valid? [True, True] Translation: X:148.07, Y:-25.69, Z:-17.56 [[ 9.69875920e-01 2.26476607e-01 8.97164803e-02 1.48072462e+02] [-2.25967459e-01 9.74004648e-01 -1.59265184e-02 -2.56947334e+01] [-9.09912526e-02 -4.82625837e-03 9.95839997e-01 -1.75606769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.70629675700002 meters 0.07981770014387603 Centerline is valid? [True, True] Translation: X:148.10, Y:-25.70, Z:-17.57 [[ 9.69568165e-01 2.28007278e-01 8.91642001e-02 1.48103786e+02] [-2.27510801e-01 9.73646902e-01 -1.58286508e-02 -2.56985909e+01] [-9.04234947e-02 -4.93886274e-03 9.95891158e-01 -1.75657175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73629675700002 meters 0.07961932851151635 Centerline is valid? [True, True] Translation: X:148.13, Y:-25.71, Z:-17.57 [[ 9.69097899e-01 2.30581594e-01 8.76435479e-02 1.48134075e+02] [-2.30112119e-01 9.73039696e-01 -1.55615929e-02 -2.57069448e+01] [-8.88688681e-02 -5.08713554e-03 9.96030344e-01 -1.75695833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76629675700002 meters 0.07987336004634513 Centerline is valid? [True, True] Translation: X:148.17, Y:-25.71, Z:-17.57 [[ 9.69298987e-01 2.30499100e-01 8.56133119e-02 1.48165353e+02] [-2.30049400e-01 9.73059972e-01 -1.52172247e-02 -2.57131922e+01] [-8.68144435e-02 -4.94525055e-03 9.96212225e-01 -1.75735207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79629675700002 meters 0.08019574964582392 Centerline is valid? [True, True] Translation: X:148.19, Y:-25.72, Z:-17.58 [[ 9.70065925e-01 2.28620382e-01 8.18829801e-02 1.48194916e+02] [-2.28200723e-01 9.73505025e-01 -1.45737898e-02 -2.57202269e+01] [-8.30453580e-02 -4.54821842e-03 9.96535389e-01 -1.75795883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82629675700002 meters 0.07978188513682892 Centerline is valid? [True, True] Translation: X:148.22, Y:-25.73, Z:-17.58 [[ 9.70755316e-01 2.25135078e-01 8.33565372e-02 1.48224070e+02] [-2.24685265e-01 9.74318061e-01 -1.48609471e-02 -2.57296635e+01] [-8.45615002e-02 -4.30264231e-03 9.96408972e-01 -1.75818285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85629675700002 meters 0.07934018646917859 Centerline is valid? [True, True] Translation: X:148.25, Y:-25.74, Z:-17.58 [[ 9.71033046e-01 2.23153859e-01 8.54235278e-02 1.48254761e+02] [-2.22673786e-01 9.74774044e-01 -1.52298236e-02 -2.57375679e+01] [-8.66672316e-02 -4.23291836e-03 9.96228324e-01 -1.75844565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.88629675700003 meters 0.07754578606772271 Centerline is valid? [True, True] Translation: X:148.29, Y:-25.75, Z:-17.58 [[ 9.71495777e-01 2.21542263e-01 8.43503448e-02 1.48285601e+02] [-2.21068079e-01 9.75142415e-01 -1.50390810e-02 -2.57504935e+01] [-8.55853910e-02 -4.03676507e-03 9.96322661e-01 -1.75844486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.91629675700003 meters 0.0780619562046584 Centerline is valid? [True, True] Translation: X:148.32, Y:-25.76, Z:-17.59 [[ 9.72251849e-01 2.17215606e-01 8.68546052e-02 1.48315188e+02] [-2.16693139e-01 9.76116494e-01 -1.55136436e-02 -2.57556907e+01] [-8.81500183e-02 -3.73762837e-03 9.96100198e-01 -1.75892522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.94629675700003 meters 0.07664418713291678 Centerline is valid? [True, True] Translation: X:148.35, Y:-25.77, Z:-17.59 [[ 9.72809004e-01 2.15039337e-01 8.60274705e-02 1.48346187e+02] [-2.14518331e-01 9.76599092e-01 -1.53655297e-02 -2.57680305e+01] [-8.73185429e-02 -3.50674371e-03 9.96174269e-01 -1.75903364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.97629675700003 meters 0.07635646392787113 Centerline is valid? [True, True] Translation: X:148.38, Y:-25.78, Z:-17.59 [[ 9.73477801e-01 2.11787951e-01 8.65264920e-02 1.48375812e+02] [-2.11247269e-01 9.77310321e-01 -1.54637493e-02 -2.57769958e+01] [-8.78382694e-02 -3.22486842e-03 9.96129529e-01 -1.75945329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.00629675700003 meters 0.07601542179020256 Centerline is valid? [True, True] Translation: X:148.41, Y:-25.79, Z:-17.60 [[ 9.73698675e-01 2.10802348e-01 8.64480253e-02 1.48406730e+02] [-2.10258929e-01 9.77523679e-01 -1.54479563e-02 -2.57858077e+01] [-8.77614572e-02 -3.13481464e-03 9.96136587e-01 -1.75974285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.03629675700003 meters 0.07558850100642484 Centerline is valid? [True, True] Translation: X:148.44, Y:-25.80, Z:-17.60 [[ 9.74413501e-01 2.07488270e-01 8.64114980e-02 1.48436611e+02] [-2.06930012e-01 9.78233472e-01 -1.54675348e-02 -2.57950901e+01] [-8.77399517e-02 -2.80935763e-03 9.96139452e-01 -1.76014008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.06629675700003 meters 0.07520532595490231 Centerline is valid? [True, True] Translation: X:148.47, Y:-25.80, Z:-17.60 [[ 9.74606533e-01 2.06466718e-01 8.66810253e-02 1.48467609e+02] [-2.05901104e-01 9.78449822e-01 -1.55139151e-02 -2.58041611e+01] [-8.80161409e-02 -2.72775582e-03 9.96115314e-01 -1.76038989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.09629675700003 meters 0.07520532595490231 Centerline is valid? [True, True] Translation: X:148.50, Y:-25.81, Z:-17.61 [[ 9.74549150e-01 2.06738941e-01 8.66773589e-02 1.48499301e+02] [-2.06172583e-01 9.78392329e-01 -1.55343688e-02 -2.58099194e+01] [-8.80160220e-02 -2.73148911e-03 9.96115314e-01 -1.76075150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.12629675700003 meters 0.07519376926414843 Centerline is valid? [True, True] Translation: X:148.53, Y:-25.82, Z:-17.61 [[ 9.75088600e-01 2.04114638e-01 8.68299325e-02 1.48528398e+02] [-2.03533321e-01 9.78943876e-01 -1.55908703e-02 -2.58161912e+01] [-8.81839555e-02 -2.47030465e-03 9.96101143e-01 -1.76125986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.15629675700004 meters 0.07467794186954117 Centerline is valid? [True, True] Translation: X:148.56, Y:-25.82, Z:-17.62 [[ 9.75264066e-01 2.03718867e-01 8.57824220e-02 1.48560411e+02] [-2.03149581e-01 9.79026486e-01 -1.54073583e-02 -2.58248930e+01] [-8.71220328e-02 -2.40042016e-03 9.96194755e-01 -1.76157599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.18629675700004 meters 0.0748526476712087 Centerline is valid? [True, True] Translation: X:148.59, Y:-25.83, Z:-17.62 [[ 9.75498626e-01 2.03034829e-01 8.47306858e-02 1.48591808e+02] [-2.02474460e-01 9.79168854e-01 -1.52462275e-02 -2.58324152e+01] [-8.60611637e-02 -2.28312586e-03 9.96287239e-01 -1.76206662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.21629675700004 meters 0.0747763834134 Centerline is valid? [True, True] Translation: X:148.62, Y:-25.84, Z:-17.63 [[ 9.75536084e-01 2.03299741e-01 8.36574177e-02 1.48622699e+02] [-2.02753858e-01 9.79113917e-01 -1.50602401e-02 -2.58397269e+01] [-8.49718848e-02 -2.27005651e-03 9.96380763e-01 -1.76252658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.246296757 meters 0.07495408236532167 Centerline is valid? [True, True] Translation: X:148.65, Y:-25.84, Z:-17.63 [[ 9.75428842e-01 2.04078293e-01 8.30097890e-02 1.48652830e+02] [-2.03541859e-01 9.78951871e-01 -1.49648204e-02 -2.58446231e+01] [-8.43165832e-02 -2.29884935e-03 9.96436365e-01 -1.76297266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.276296757 meters 0.07500225237411806 Centerline is valid? [True, True] Translation: X:148.68, Y:-25.85, Z:-17.63 [[ 9.75063780e-01 2.06102576e-01 8.22943138e-02 1.48684361e+02] [-2.05581024e-01 9.78527364e-01 -1.48539969e-02 -2.58503836e+01] [-8.35886849e-02 -2.43455498e-03 9.96497368e-01 -1.76329351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.306296757 meters 0.07477726321044477 Centerline is valid? [True, True] Translation: X:148.72, Y:-25.86, Z:-17.63 [[ 9.74717386e-01 2.07441595e-01 8.30301244e-02 1.48715351e+02] [-2.06913823e-01 9.78244074e-01 -1.50067309e-02 -2.58581604e+01] [-8.43367474e-02 -2.55275887e-03 9.96434040e-01 -1.76347158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.336296757 meters 0.07503673509860187 Centerline is valid? [True, True] Translation: X:148.75, Y:-25.86, Z:-17.64 [[ 9.74518123e-01 2.08763261e-01 8.20507651e-02 1.48745777e+02] [-2.08250785e-01 9.77962711e-01 -1.48508086e-02 -2.58634957e+01] [-8.33428919e-02 -2.61475416e-03 9.96517499e-01 -1.76387869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.36629675700001 meters 0.0754195733661071 Centerline is valid? [True, True] Translation: X:148.78, Y:-25.87, Z:-17.64 [[ 9.74141616e-01 2.10618018e-01 8.17811823e-02 1.48777163e+02] [-2.10113873e-01 9.77564581e-01 -1.48206047e-02 -2.58706260e+01] [-8.30678736e-02 -2.74599309e-03 9.96540109e-01 -1.76428427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.39629675700002 meters 0.07558575905715864 Centerline is valid? [True, True] Translation: X:148.81, Y:-25.88, Z:-17.65 [[ 9.74046364e-01 2.11262752e-01 8.12510295e-02 1.48807950e+02] [-2.10765417e-01 9.77425411e-01 -1.47480539e-02 -2.58767422e+01] [-8.25325354e-02 -2.75961876e-03 9.96584550e-01 -1.76457940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.42629675700002 meters 0.07578745545646692 Centerline is valid? [True, True] Translation: X:148.84, Y:-25.88, Z:-17.65 [[ 9.74046216e-01 2.11425601e-01 8.08281115e-02 1.48838180e+02] [-2.10933408e-01 9.77390220e-01 -1.46783874e-02 -2.58846197e+01] [-8.21039925e-02 -2.75192132e-03 9.96619968e-01 -1.76500792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.45629675700002 meters 0.07592918164464223 Centerline is valid? [True, True] Translation: X:148.87, Y:-25.89, Z:-17.65 [[ 9.74349913e-01 2.10101547e-01 8.06200168e-02 1.48867951e+02] [-2.09605521e-01 9.77676082e-01 -1.46630597e-02 -2.58930754e+01] [-8.19009936e-02 -2.61144970e-03 9.96637049e-01 -1.76540939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48629675700002 meters 0.07579145760442159 Centerline is valid? [True, True] Translation: X:148.90, Y:-25.90, Z:-17.66 [[ 9.74651580e-01 2.09045381e-01 7.97140266e-02 1.48899006e+02] [-2.08555518e-01 9.77902803e-01 -1.45156209e-02 -2.59026105e+01] [-8.09869935e-02 -2.47712730e-03 9.96712080e-01 -1.76568837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51629675700002 meters 0.07567359922136953 Centerline is valid? [True, True] Translation: X:148.93, Y:-25.91, Z:-17.66 [[ 9.74884353e-01 2.07880154e-01 7.99145840e-02 1.48930097e+02] [-2.07382294e-01 9.78151440e-01 -1.45720342e-02 -2.59107473e+01] [-8.11978022e-02 -2.36682166e-03 9.96695197e-01 -1.76607665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54629675700002 meters 0.07550714099074761 Centerline is valid? [True, True] Translation: X:148.96, Y:-25.92, Z:-17.66 [[ 9.75712688e-01 2.03437860e-01 8.12267681e-02 1.48959277e+02] [-2.02905916e-01 9.79085809e-01 -1.48380312e-02 -2.59207864e+01] [-8.25465933e-02 -2.00373646e-03 9.96585192e-01 -1.76648346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57629675700002 meters 0.07539405610039338 Centerline is valid? [True, True] Translation: X:148.99, Y:-25.93, Z:-17.67 [[ 9.76138551e-01 2.01507321e-01 8.09217508e-02 1.48990317e+02] [-2.00973052e-01 9.79485286e-01 -1.47786238e-02 -2.59300937e+01] [-8.22396651e-02 -1.83710685e-03 9.96610888e-01 -1.76669100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60629675700002 meters 0.07553820435911106 Centerline is valid? [True, True] Translation: X:149.02, Y:-25.94, Z:-17.67 [[ 9.76874396e-01 1.97631213e-01 8.15985152e-02 1.49019529e+02] [-1.97072253e-01 9.80275299e-01 -1.49286812e-02 -2.59399362e+01] [-8.29393823e-02 -1.49735676e-03 9.96553469e-01 -1.76713666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.63629675700003 meters 0.07502111522474644 Centerline is valid? [True, True] Translation: X:149.05, Y:-25.95, Z:-17.67 [[ 9.77319678e-01 1.95113046e-01 8.23234303e-02 1.49051132e+02] [-1.94535048e-01 9.80779907e-01 -1.50628397e-02 -2.59489422e+01] [-8.36801228e-02 -1.29358289e-03 9.96491828e-01 -1.76727272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.66629675700003 meters 0.07510979107836313 Centerline is valid? [True, True] Translation: X:149.08, Y:-25.96, Z:-17.68 [[ 9.77724312e-01 1.92632373e-01 8.33542978e-02 1.49081682e+02] [-1.92030498e-01 9.81270390e-01 -1.52548440e-02 -2.59575356e+01] [-8.47316811e-02 -1.09153551e-03 9.96403207e-01 -1.76754647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.69629675700003 meters 0.07509994992201487 Centerline is valid? [True, True] Translation: X:149.11, Y:-25.96, Z:-17.68 [[ 9.77847493e-01 1.91615821e-01 8.42475978e-02 1.49111841e+02] [-1.90995362e-01 9.81469506e-01 -1.54396017e-02 -2.59644987e+01] [-8.56449202e-02 -9.93324570e-04 9.96325229e-01 -1.76791383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.72629675700003 meters 0.07511591804539705 Centerline is valid? [True, True] Translation: X:149.14, Y:-25.97, Z:-17.68 [[ 9.77890338e-01 1.91329632e-01 8.44005821e-02 1.49142368e+02] [-1.90704203e-01 9.81525378e-01 -1.54867633e-02 -2.59707156e+01] [-8.58043899e-02 -9.51189551e-04 9.96311549e-01 -1.76827038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.75629675700003 meters 0.07511313416338636 Centerline is valid? [True, True] Translation: X:149.17, Y:-25.98, Z:-17.69 [[ 9.77837762e-01 1.92065109e-01 8.33325021e-02 1.49173700e+02] [-1.91456571e-01 9.81381691e-01 -1.53087440e-02 -2.59755310e+01] [-8.47212675e-02 -9.85087195e-04 9.96404203e-01 -1.76865534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.78629675700003 meters 0.07527666178827987 Centerline is valid? [True, True] Translation: X:149.20, Y:-25.98, Z:-17.69 [[ 9.77827241e-01 1.92293934e-01 8.29272576e-02 1.49204547e+02] [-1.91690216e-01 9.81336888e-01 -1.52569356e-02 -2.59801532e+01] [-8.43133930e-02 -9.77696644e-04 9.96438807e-01 -1.76918968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.81629675700003 meters 0.07534378520979906 Centerline is valid? [True, True] Translation: X:149.24, Y:-25.98, Z:-17.70 [[ 9.77692660e-01 1.93455779e-01 8.18041847e-02 1.49236103e+02] [-1.92871749e-01 9.81108428e-01 -1.50579359e-02 -2.59846677e+01] [-8.31718198e-02 -1.05568280e-03 9.96534663e-01 -1.76961595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.84629675700003 meters 0.07557369394507457 Centerline is valid? [True, True] Translation: X:149.27, Y:-25.99, Z:-17.70 [[ 9.77538576e-01 1.94849797e-01 8.03236467e-02 1.49267090e+02] [-1.94289645e-01 9.80832441e-01 -1.48073330e-02 -2.59878590e+01] [-8.16692443e-02 -1.13131357e-03 9.96658846e-01 -1.77011839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.87629675700003 meters 0.07553924334602913 Centerline is valid? [True, True] Translation: X:149.30, Y:-25.99, Z:-17.71 [[ 9.77349073e-01 1.95903121e-01 8.00672055e-02 1.49298882e+02] [-1.95349299e-01 9.80622513e-01 -1.47695216e-02 -2.59922586e+01] [-8.14090996e-02 -1.20609427e-03 9.96680041e-01 -1.77057395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.90629675700004 meters 0.07583814944931042 Centerline is valid? [True, True] Translation: X:149.33, Y:-26.00, Z:-17.71 [[ 9.76859053e-01 1.98452076e-01 7.97694441e-02 1.49329227e+02] [-1.97910021e-01 9.80109588e-01 -1.47247768e-02 -2.59950413e+01] [-8.11049595e-02 -1.40314087e-03 9.96704578e-01 -1.77100030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.93629675700004 meters 0.07621574984261657 Centerline is valid? [True, True] Translation: X:149.36, Y:-26.00, Z:-17.71 [[ 9.76541768e-01 2.00395591e-01 7.87894874e-02 1.49360843e+02] [-1.99872651e-01 9.79713854e-01 -1.45494687e-02 -2.59991559e+01] [-8.01068018e-02 -1.53969984e-03 9.96785097e-01 -1.77136044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.96629675700004 meters 0.07636672237251839 Centerline is valid? [True, True] Translation: X:149.39, Y:-26.00, Z:-17.72 [[ 9.76284952e-01 2.02235282e-01 7.72566123e-02 1.49392523e+02] [-2.01736478e-01 9.79335600e-01 -1.42890386e-02 -2.60021399e+01] [-7.85498985e-02 -1.63530355e-03 9.96908842e-01 -1.77179086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.996296757 meters 0.07637094511825804 Centerline is valid? [True, True] Translation: X:149.42, Y:-26.01, Z:-17.72 [[ 9.76151818e-01 2.03041975e-01 7.68217661e-02 1.49423830e+02] [-2.02551298e-01 9.79168574e-01 -1.42082515e-02 -2.60077465e+01] [-7.81063307e-02 -1.69093795e-03 9.96943600e-01 -1.77211768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.026296757 meters 0.07601289483522872 Centerline is valid? [True, True] Translation: X:149.46, Y:-26.02, Z:-17.72 [[ 9.76259746e-01 2.02565735e-01 7.67074381e-02 1.49455370e+02] [-2.02073677e-01 9.79267306e-01 -1.42046775e-02 -2.60161374e+01] [-7.79944672e-02 -1.63309930e-03 9.96952454e-01 -1.77223414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.056296757 meters 0.07571389556617912 Centerline is valid? [True, True] Translation: X:149.49, Y:-26.02, Z:-17.72 [[ 9.76212116e-01 2.02806939e-01 7.66762727e-02 1.49486076e+02] [-2.02314605e-01 9.79217379e-01 -1.42170576e-02 -2.60232393e+01] [-7.79660568e-02 -1.63386592e-03 9.96954675e-01 -1.77246100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.086296757 meters 0.07532801711186804 Centerline is valid? [True, True] Translation: X:149.52, Y:-26.03, Z:-17.73 [[ 9.76358072e-01 2.01765101e-01 7.75613223e-02 1.49517319e+02] [-2.01256108e-01 9.79432723e-01 -1.44055916e-02 -2.60308418e+01] [-7.88726427e-02 -1.54467420e-03 9.96883504e-01 -1.77260350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.11629675700001 meters 0.0752173495595941 Centerline is valid? [True, True] Translation: X:149.55, Y:-26.04, Z:-17.73 [[ 9.76444849e-01 2.01318204e-01 7.76301314e-02 1.49548721e+02] [-2.00806351e-01 9.79524743e-01 -1.44252531e-02 -2.60370180e+01] [-7.89447005e-02 -1.50315935e-03 9.96877864e-01 -1.77297967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.14629675700002 meters 0.07502625483936452 Centerline is valid? [True, True] Translation: X:149.58, Y:-26.04, Z:-17.73 [[ 9.76560081e-01 2.01690128e-01 7.51764610e-02 1.49580150e+02] [-2.01209399e-01 9.79448293e-01 -1.39935346e-02 -2.60433943e+01] [-7.64538142e-02 -1.46068331e-03 9.97072054e-01 -1.77322844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.17629675700002 meters 0.07464003894351605 Centerline is valid? [True, True] Translation: X:149.61, Y:-26.05, Z:-17.73 [[ 9.76675266e-01 2.01039404e-01 7.54227000e-02 1.49611125e+02] [-2.00553623e-01 9.79582133e-01 -1.40388156e-02 -2.60505578e+01] [-7.67050845e-02 -1.41493176e-03 9.97052821e-01 -1.77345035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.20629675700002 meters 0.07454985800013487 Centerline is valid? [True, True] Translation: X:149.64, Y:-26.06, Z:-17.74 [[ 9.76628277e-01 2.01308506e-01 7.53133062e-02 1.49642149e+02] [-2.00823539e-01 9.79526865e-01 -1.40365960e-02 -2.60559452e+01] [-7.65970929e-02 -1.41614811e-03 9.97061121e-01 -1.77397330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23629675700002 meters 0.07443918062818866 Centerline is valid? [True, True] Translation: X:149.67, Y:-26.06, Z:-17.74 [[ 9.76523785e-01 2.01782465e-01 7.53998269e-02 1.49674486e+02] [-2.01296284e-01 9.79429311e-01 -1.40723252e-02 -2.60618989e+01] [-7.66883490e-02 -1.43574469e-03 9.97054079e-01 -1.77419471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26629675700002 meters 0.07439582043789784 Centerline is valid? [True, True] Translation: X:149.71, Y:-26.07, Z:-17.75 [[ 9.76576889e-01 2.01505165e-01 7.54536239e-02 1.49705745e+02] [-2.01015732e-01 9.79486462e-01 -1.41048643e-02 -2.60670974e+01] [-7.67480061e-02 -1.39288097e-03 9.97049549e-01 -1.77456194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29629675700002 meters 0.0745670207067658 Centerline is valid? [True, True] Translation: X:149.74, Y:-26.07, Z:-17.75 [[ 9.76562960e-01 2.01436905e-01 7.58152971e-02 1.49736760e+02] [-2.00941062e-01 9.79500527e-01 -1.41918130e-02 -2.60721960e+01] [-7.71198784e-02 -1.37520736e-03 9.97020879e-01 -1.77478180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32629675700002 meters 0.07440387840755162 Centerline is valid? [True, True] Translation: X:149.77, Y:-26.08, Z:-17.75 [[ 9.76687339e-01 2.00742221e-01 7.60552605e-02 1.49767602e+02] [-2.00239829e-01 9.79643226e-01 -1.42534669e-02 -2.60793013e+01] [-7.73682933e-02 -1.30811173e-03 9.97001723e-01 -1.77499521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35629675700002 meters 0.07430883744588773 Centerline is valid? [True, True] Translation: X:149.80, Y:-26.09, Z:-17.75 [[ 9.76874952e-01 1.99578243e-01 7.67062822e-02 1.49799087e+02] [-1.99062131e-01 9.79881149e-01 -1.43945052e-02 -2.60862508e+01] [-7.80358700e-02 -1.20768445e-03 9.96949820e-01 -1.77536063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.38629675700003 meters 0.07415521976779851 Centerline is valid? [True, True] Translation: X:149.83, Y:-26.09, Z:-17.76 [[ 9.76969652e-01 1.99085555e-01 7.67804761e-02 1.49829369e+02] [-1.98565181e-01 9.79981441e-01 -1.44306643e-02 -2.60924540e+01] [-7.81163784e-02 -1.14760812e-03 9.96943586e-01 -1.77575136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.41629675700003 meters 0.07418569704353253 Centerline is valid? [True, True] Translation: X:149.86, Y:-26.10, Z:-17.76 [[ 9.76871323e-01 2.00059008e-01 7.54904756e-02 1.49861209e+02] [-1.99558383e-01 9.79783118e-01 -1.41948752e-02 -2.60968566e+01] [-7.68041062e-02 -1.19819068e-03 9.97045482e-01 -1.77616467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.44629675700003 meters 0.07427408401849045 Centerline is valid? [True, True] Translation: X:149.89, Y:-26.10, Z:-17.77 [[ 9.76692432e-01 2.01453199e-01 7.40844301e-02 1.49891538e+02] [-2.00973431e-01 9.79497328e-01 -1.39522087e-02 -2.61008246e+01] [-7.53762185e-02 -1.26198545e-03 9.97154368e-01 -1.77662078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.47629675700003 meters 0.07450428875350544 Centerline is valid? [True, True] Translation: X:149.92, Y:-26.10, Z:-17.77 [[ 9.76148673e-01 2.04362700e-01 7.32779340e-02 1.49922515e+02] [-2.03901127e-01 9.78894141e-01 -1.38054606e-02 -2.61039793e+01] [-7.45526615e-02 -1.46527130e-03 9.97216001e-01 -1.77711471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.50629675700003 meters 0.07458558655899189 Centerline is valid? [True, True] Translation: X:149.95, Y:-26.11, Z:-17.78 [[ 9.75904969e-01 2.05743810e-01 7.26565616e-02 1.49953536e+02] [-2.05292418e-01 9.78604679e-01 -1.37078390e-02 -2.61085378e+01] [-7.39223542e-02 -1.53829302e-03 9.97262814e-01 -1.77754376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.53629675700003 meters 0.07496562968691058 Centerline is valid? [True, True] Translation: X:149.98, Y:-26.11, Z:-17.78 [[ 9.75171279e-01 2.09154356e-01 7.27697220e-02 1.49984594e+02] [-2.08710608e-01 9.77880993e-01 -1.37348224e-02 -2.61103303e+01] [-7.40328259e-02 -1.79400852e-03 9.97254191e-01 -1.77799297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.56629675700003 meters 0.07498505304859247 Centerline is valid? [True, True] Translation: X:150.02, Y:-26.11, Z:-17.78 [[ 9.74820743e-01 2.10772226e-01 7.27982672e-02 1.50016422e+02] [-2.10331485e-01 9.77533349e-01 -1.37556357e-02 -2.61148110e+01] [-7.40620399e-02 -1.90248859e-03 9.97251821e-01 -1.77840014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.59629675700003 meters 0.07444819718125985 Centerline is valid? [True, True] Translation: X:150.05, Y:-26.12, Z:-17.78 [[ 9.74105119e-01 2.13452676e-01 7.45464505e-02 1.50048336e+02] [-2.12997061e-01 9.76951059e-01 -1.41024857e-02 -2.61222335e+01] [-7.58384470e-02 -2.14087133e-03 9.97117820e-01 -1.77838783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.62629675700003 meters 0.07411130123759159 Centerline is valid? [True, True] Translation: X:150.08, Y:-26.13, Z:-17.79 [[ 9.73987615e-01 2.13960718e-01 7.46253105e-02 1.50080512e+02] [-2.13504008e-01 9.76839873e-01 -1.41386497e-02 -2.61295080e+01] [-7.59220945e-02 -2.16193312e-03 9.97111409e-01 -1.77859232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.65629675700004 meters 0.0741225632355714 Centerline is valid? [True, True] Translation: X:150.11, Y:-26.13, Z:-17.79 [[ 9.73903290e-01 2.13672818e-01 7.65265186e-02 1.50110952e+02] [-2.13189654e-01 9.76902871e-01 -1.45241668e-02 -2.61347503e+01] [-7.78623954e-02 -2.16952827e-03 9.96961755e-01 -1.77910728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.68629675700004 meters 0.07361806361414469 Centerline is valid? [True, True] Translation: X:150.14, Y:-26.14, Z:-17.79 [[ 9.74031209e-01 2.12824492e-01 7.72589107e-02 1.50141796e+02] [-2.12327930e-01 9.77088178e-01 -1.46813489e-02 -2.61426007e+01] [-7.86133189e-02 -2.10413258e-03 9.96902964e-01 -1.77930285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.71629675700004 meters 0.07298332438183137 Centerline is valid? [True, True] Translation: X:150.17, Y:-26.15, Z:-17.80 [[ 9.74370962e-01 2.11054908e-01 7.78270746e-02 1.50172823e+02] [-2.10543790e-01 9.77472250e-01 -1.48092535e-02 -2.61505588e+01] [-7.91993713e-02 -1.95630063e-03 9.96856877e-01 -1.77951375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.746296757 meters 0.07260411583847905 Centerline is valid? [True, True] Translation: X:150.20, Y:-26.16, Z:-17.80 [[ 9.74611518e-01 2.10144392e-01 7.72769249e-02 1.50204201e+02] [-2.09636108e-01 9.77668610e-01 -1.47237993e-02 -2.61580154e+01] [-7.86453476e-02 -1.85004942e-03 9.96900941e-01 -1.77974308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.776296757 meters 0.07227479946943094 Centerline is valid? [True, True] Translation: X:150.23, Y:-26.17, Z:-17.80 [[ 9.75130801e-01 2.07723776e-01 7.72706580e-02 1.50234163e+02] [-2.07206378e-01 9.78186159e-01 -1.47429976e-02 -2.61654578e+01] [-7.86475592e-02 -1.63462211e-03 9.96901143e-01 -1.78035859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.806296757 meters 0.07218939373073545 Centerline is valid? [True, True] Translation: X:150.27, Y:-26.17, Z:-17.81 [[ 9.75418275e-01 2.06263299e-01 7.75541091e-02 1.50265240e+02] [-2.05736069e-01 9.78495369e-01 -1.48149577e-02 -2.61727527e+01] [-7.89421186e-02 -1.50489703e-03 9.96878065e-01 -1.78078071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.836296757 meters 0.07187884699332513 Centerline is valid? [True, True] Translation: X:150.30, Y:-26.18, Z:-17.81 [[ 9.76004344e-01 2.03123270e-01 7.84630960e-02 1.50295353e+02] [-2.02571364e-01 9.79152388e-01 -1.50147495e-02 -2.61799461e+01] [-7.98771729e-02 -1.23991562e-03 9.96803943e-01 -1.78121888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.86629675700001 meters 0.07180546048212919 Centerline is valid? [True, True] Translation: X:150.33, Y:-26.19, Z:-17.82 [[ 9.76123862e-01 2.01961224e-01 7.99616781e-02 1.50325613e+02] [-2.01384331e-01 9.79392820e-01 -1.52988419e-02 -2.61862721e+01] [-8.14036663e-02 -1.16946442e-03 9.96680528e-01 -1.78156070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.89629675700002 meters 0.07168103570134994 Centerline is valid? [True, True] Translation: X:150.36, Y:-26.19, Z:-17.82 [[ 9.76355998e-01 2.00341283e-01 8.11932016e-02 1.50357325e+02] [-1.99739099e-01 9.79725630e-01 -1.55557633e-02 -2.61932192e+01] [-8.26635222e-02 -1.02949409e-03 9.96576983e-01 -1.78182679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.92629675700002 meters 0.07149777157431901 Centerline is valid? [True, True] Translation: X:150.39, Y:-26.20, Z:-17.82 [[ 9.76634142e-01 1.98618686e-01 8.20753964e-02 1.50388041e+02] [-1.97996569e-01 9.80076443e-01 -1.57329241e-02 -2.61994182e+01] [-8.35650153e-02 -8.85336072e-04 9.96501934e-01 -1.78215927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.95629675700002 meters 0.07127401327023397 Centerline is valid? [True, True] Translation: X:150.42, Y:-26.21, Z:-17.83 [[ 9.76567864e-01 1.97622302e-01 8.52093500e-02 1.50417875e+02] [-1.96945599e-01 9.80277908e-01 -1.63601046e-02 -2.62051646e+01] [-8.67619650e-02 -8.04854088e-04 9.96228746e-01 -1.78252757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98629675700002 meters 0.07127401327023397 Centerline is valid? [True, True] Translation: X:150.45, Y:-26.21, Z:-17.83 [[ 9.76516638e-01 1.97875054e-01 8.52098576e-02 1.50449476e+02] [-1.97199541e-01 9.80226899e-01 -1.63574661e-02 -2.62113409e+01] [-8.67617290e-02 -8.30006995e-04 9.96228746e-01 -1.78288795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01629675700002 meters 0.07124940393401594 Centerline is valid? [True, True] Translation: X:150.48, Y:-26.22, Z:-17.83 [[ 9.76326774e-01 1.98310477e-01 8.63654192e-02 1.50481693e+02] [-1.97615725e-01 9.80138881e-01 -1.66071813e-02 -2.62173247e+01] [-8.79434834e-02 -8.53129106e-04 9.96125101e-01 -1.78296587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04629675700002 meters 0.07130390391439659 Centerline is valid? [True, True] Translation: X:150.51, Y:-26.22, Z:-17.83 [[ 9.75595728e-01 2.01443541e-01 8.73697632e-02 1.50514761e+02] [-2.00744718e-01 9.79499458e-01 -1.68038679e-02 -2.62203420e+01] [-8.89636663e-02 -1.14523673e-03 9.96034214e-01 -1.78329641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07629675700002 meters 0.07145257224615886 Centerline is valid? [True, True] Translation: X:150.55, Y:-26.22, Z:-17.84 [[ 9.75021553e-01 2.03720297e-01 8.84930058e-02 1.50545871e+02] [-2.03010355e-01 9.79028208e-01 -1.70459309e-02 -2.62233251e+01] [-9.01097510e-02 -1.34484651e-03 9.95930933e-01 -1.78378492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10629675700002 meters 0.07219501562838189 Centerline is valid? [True, True] Translation: X:150.58, Y:-26.22, Z:-17.84 [[ 9.74045277e-01 2.08614348e-01 8.78399231e-02 1.50577806e+02] [-2.07932557e-01 9.77996398e-01 -1.69439506e-02 -2.62233862e+01] [-8.94418796e-02 -1.76060479e-03 9.95990487e-01 -1.78429438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.13629675700003 meters 0.07251464040491797 Centerline is valid? [True, True] Translation: X:150.61, Y:-26.23, Z:-17.85 [[ 9.73579745e-01 2.10956126e-01 8.74070544e-02 1.50609471e+02] [-2.10288701e-01 9.77493593e-01 -1.68801271e-02 -2.62265962e+01] [-8.90008018e-02 -1.94656602e-03 9.96029652e-01 -1.78483707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.16629675700003 meters 0.07317796701104919 Centerline is valid? [True, True] Translation: X:150.64, Y:-26.23, Z:-17.85 [[ 9.72682802e-01 2.15820799e-01 8.54959012e-02 1.50640702e+02] [-2.15199124e-01 9.76430239e-01 -1.65325730e-02 -2.62284644e+01] [-8.70488564e-02 -2.31769363e-03 9.96201348e-01 -1.78535243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.19629675700003 meters 0.07331060965269826 Centerline is valid? [True, True] Translation: X:150.67, Y:-26.23, Z:-17.86 [[ 9.72345197e-01 2.17461461e-01 8.51782331e-02 1.50672645e+02] [-2.16849206e-01 9.76065861e-01 -1.64880630e-02 -2.62328209e+01] [-8.67250837e-02 -2.43874333e-03 9.96229297e-01 -1.78578646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.22629675700003 meters 0.07332936718349399 Centerline is valid? [True, True] Translation: X:150.70, Y:-26.24, Z:-17.86 [[ 9.71986190e-01 2.18423386e-01 8.67990281e-02 1.50704049e+02] [-2.17789404e-01 9.75850766e-01 -1.68243418e-02 -2.62378487e+01] [-8.83777278e-02 -2.55088068e-03 9.96083767e-01 -1.78626110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.25629675700003 meters 0.07346045916215367 Centerline is valid? [True, True] Translation: X:150.74, Y:-26.24, Z:-17.87 [[ 9.71936657e-01 2.18587377e-01 8.69407502e-02 1.50736115e+02] [-2.17950080e-01 9.75814050e-01 -1.68731181e-02 -2.62431642e+01] [-8.85262563e-02 -2.54914145e-03 9.96070582e-01 -1.78673634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.28629675700003 meters 0.0733489116368892 Centerline is valid? [True, True] Translation: X:150.77, Y:-26.25, Z:-17.87 [[ 9.71907306e-01 2.18310765e-01 8.79579412e-02 1.50766623e+02] [-2.17654908e-01 9.75876028e-01 -1.70973444e-02 -2.62488738e+01] [-8.95685806e-02 -2.52744360e-03 9.95977450e-01 -1.78710943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.31629675700003 meters 0.07300919312330502 Centerline is valid? [True, True] Translation: X:150.80, Y:-26.26, Z:-17.87 [[ 9.72184040e-01 2.16436654e-01 8.95174151e-02 1.50796964e+02] [-2.15747355e-01 9.76293774e-01 -1.74225614e-02 -2.62563343e+01] [-9.11661760e-02 -2.37520938e-03 9.95832861e-01 -1.78742822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.34629675700003 meters 0.07267143265149363 Centerline is valid? [True, True] Translation: X:150.83, Y:-26.26, Z:-17.88 [[ 9.72627139e-01 2.13470822e-01 9.17968202e-02 1.50826187e+02] [-2.12730970e-01 9.76947112e-01 -1.78850263e-02 -2.62637007e+01] [-9.34985696e-02 -2.13256455e-03 9.95617130e-01 -1.78775333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.37629675700003 meters 0.07266454078305051 Centerline is valid? [True, True] Translation: X:150.86, Y:-26.27, Z:-17.88 [[ 9.72767424e-01 2.12411024e-01 9.27636575e-02 1.50856792e+02] [-2.11649933e-01 9.77178273e-01 -1.80811931e-02 -2.62702843e+01] [-9.44872753e-02 -2.04462621e-03 9.95523970e-01 -1.78815949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.40629675700004 meters 0.07204652292658106 Centerline is valid? [True, True] Translation: X:150.89, Y:-26.28, Z:-17.88 [[ 9.73079941e-01 2.09911836e-01 9.51443656e-02 1.50886944e+02] [-2.09096730e-01 9.77718617e-01 -1.85704803e-02 -2.62782890e+01] [-9.69225812e-02 -1.82381393e-03 9.95290253e-01 -1.78849393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.43629675700004 meters 0.07209611325499986 Centerline is valid? [True, True] Translation: X:150.92, Y:-26.28, Z:-17.89 [[ 9.73148855e-01 2.09190389e-01 9.60244045e-02 1.50917262e+02] [-2.08354916e-01 9.77873363e-01 -1.87594099e-02 -2.62835694e+01] [-9.78239956e-02 -1.75145852e-03 9.95202190e-01 -1.78888243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.46629675700004 meters 0.07182482154633797 Centerline is valid? [True, True] Translation: X:150.95, Y:-26.29, Z:-17.89 [[ 9.72992967e-01 2.09438298e-01 9.70581593e-02 1.50948184e+02] [-2.08583738e-01 9.77820256e-01 -1.89834612e-02 -2.62902364e+01] [-9.88812979e-02 -1.77397946e-03 9.95097654e-01 -1.78909148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.496296757 meters 0.07185454151132432 Centerline is valid? [True, True] Translation: X:150.98, Y:-26.29, Z:-17.89 [[ 9.72691743e-01 2.09949059e-01 9.89553680e-02 1.50979072e+02] [-2.09060691e-01 9.77710602e-01 -1.93805839e-02 -2.62949246e+01] [-1.00818648e-01 -1.83634371e-03 9.94903125e-01 -1.78941401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.526296757 meters 0.07177114241230893 Centerline is valid? [True, True] Translation: X:151.01, Y:-26.30, Z:-17.90 [[ 9.72074538e-01 2.12146932e-01 1.00323338e-01 1.51011147e+02] [-2.11243003e-01 9.77235589e-01 -1.96722666e-02 -2.62990146e+01] [-1.02212947e-01 -2.06969361e-03 9.94760388e-01 -1.78964064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.556296757 meters 0.07193077336185641 Centerline is valid? [True, True] Translation: X:151.04, Y:-26.30, Z:-17.90 [[ 9.71622094e-01 2.13826031e-01 1.01138196e-01 1.51041590e+02] [-2.12913587e-01 9.76869193e-01 -1.98591315e-02 -2.63018307e+01] [-1.03045187e-01 -2.23812515e-03 9.94674158e-01 -1.79002831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.586296757 meters 0.07262281921099602 Centerline is valid? [True, True] Translation: X:151.07, Y:-26.30, Z:-17.90 [[ 9.70548509e-01 2.18103397e-01 1.02305910e-01 1.51072997e+02] [-2.17191992e-01 9.75921904e-01 -2.01016489e-02 -2.63009315e+01] [-1.04226816e-01 -2.71039897e-03 9.94549860e-01 -1.79032354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.61629675700001 meters 0.07299498369386671 Centerline is valid? [True, True] Translation: X:151.10, Y:-26.30, Z:-17.91 [[ 9.70095806e-01 2.20883503e-01 1.00621101e-01 1.51103455e+02] [-2.20015531e-01 9.75295748e-01 -1.97830999e-02 -2.63029893e+01] [-1.02505093e-01 -2.94670278e-03 9.94728115e-01 -1.79071600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.64629675700002 meters 0.07342762402005257 Centerline is valid? [True, True] Translation: X:151.13, Y:-26.30, Z:-17.91 [[ 9.68803447e-01 2.26441729e-01 1.00717543e-01 1.51134974e+02] [-2.25601045e-01 9.74018321e-01 -1.98110753e-02 -2.63042369e+01] [-1.02586786e-01 -3.52894493e-03 9.94717798e-01 -1.79116524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.67629675700002 meters 0.07373127210021566 Centerline is valid? [True, True] Translation: X:151.17, Y:-26.31, Z:-17.92 [[ 9.68251605e-01 2.29083220e-01 1.00048522e-01 1.51166605e+02] [-2.28265440e-01 9.73399574e-01 -1.97017401e-02 -2.63075546e+01] [-1.01900527e-01 -3.76137849e-03 9.94787482e-01 -1.79159987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.70629675700002 meters 0.07472431769835289 Centerline is valid? [True, True] Translation: X:151.20, Y:-26.31, Z:-17.92 [[ 9.67024423e-01 2.35128788e-01 9.78683710e-02 1.51197413e+02] [-2.34376375e-01 9.71954738e-01 -1.92795779e-02 -2.63061757e+01] [-9.96568107e-02 -4.29421126e-03 9.95012603e-01 -1.79217458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73629675700002 meters 0.07552815113761613 Centerline is valid? [True, True] Translation: X:151.23, Y:-26.31, Z:-17.93 [[ 9.66453002e-01 2.37848432e-01 9.69366745e-02 1.51227572e+02] [-2.37123389e-01 9.71291739e-01 -1.91011932e-02 -2.63070898e+01] [-9.86969800e-02 -4.52554725e-03 9.95107243e-01 -1.79266080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76629675700002 meters 0.07592366451456159 Centerline is valid? [True, True] Translation: X:151.26, Y:-26.31, Z:-17.93 [[ 9.65389711e-01 2.42662237e-01 9.55915481e-02 1.51259148e+02] [-2.41979665e-01 9.70098274e-01 -1.88462173e-02 -2.63095742e+01] [-9.73064611e-02 -4.93726649e-03 9.95242220e-01 -1.79309402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79629675700002 meters 0.0759302097625428 Centerline is valid? [True, True] Translation: X:151.29, Y:-26.32, Z:-17.93 [[ 9.64931181e-01 2.44483893e-01 9.55795078e-02 1.51290554e+02] [-2.43809912e-01 9.69639859e-01 -1.88486219e-02 -2.63152838e+01] [-9.72858849e-02 -5.11560841e-03 9.95243331e-01 -1.79342647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82629675700002 meters 0.07668359494825375 Centerline is valid? [True, True] Translation: X:151.32, Y:-26.32, Z:-17.94 [[ 9.64287348e-01 2.46406284e-01 9.71280305e-02 1.51321690e+02] [-2.45719430e-01 9.69151629e-01 -1.91593987e-02 -2.63173355e+01] [-9.88527852e-02 -5.39107848e-03 9.95087465e-01 -1.79375202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85629675700002 meters 0.07624256891045332 Centerline is valid? [True, True] Translation: X:151.35, Y:-26.32, Z:-17.94 [[ 9.64113837e-01 2.46270713e-01 9.91728087e-02 1.51353247e+02] [-2.45551340e-01 9.69185663e-01 -1.95880253e-02 -2.63245633e+01] [-1.00940821e-01 -5.46692981e-03 9.94877411e-01 -1.79412952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.88629675700003 meters 0.07668364752682105 Centerline is valid? [True, True] Translation: X:151.38, Y:-26.33, Z:-17.94 [[ 9.63954646e-01 2.45942102e-01 1.01508238e-01 1.51384162e+02] [-2.45185166e-01 9.69268642e-01 -2.00632641e-02 -2.63279201e+01] [-1.03323153e-01 -5.54823745e-03 9.94632366e-01 -1.79439105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.91629675700003 meters 0.07583121640367275 Centerline is valid? [True, True] Translation: X:151.41, Y:-26.34, Z:-17.95 [[ 9.64261580e-01 2.44319936e-01 1.02505487e-01 1.51414547e+02] [-2.43536239e-01 9.69679627e-01 -2.02859956e-02 -2.63358654e+01] [-1.04353756e-01 -5.40279470e-03 9.94525567e-01 -1.79469066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.94629675700003 meters 0.07545013194625606 Centerline is valid? [True, True] Translation: X:151.45, Y:-26.34, Z:-17.95 [[ 9.64832332e-01 2.42029733e-01 1.02567921e-01 1.51445251e+02] [-2.41230758e-01 9.70255193e-01 -2.03121031e-02 -2.63431536e+01] [-1.04433191e-01 -5.14476362e-03 9.94518597e-01 -1.79506163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.97629675700003 meters 0.07534310509985402 Centerline is valid? [True, True] Translation: X:151.48, Y:-26.35, Z:-17.95 [[ 9.65248645e-01 2.40694172e-01 1.01790804e-01 1.51476797e+02] [-2.39899335e-01 9.70588350e-01 -2.01634290e-02 -2.63496947e+01] [-1.03650188e-01 -4.95682368e-03 9.94601462e-01 -1.79549337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.00629675700003 meters 0.07504991908598148 Centerline is valid? [True, True] Translation: X:151.51, Y:-26.36, Z:-17.96 [[ 9.66111568e-01 2.38513328e-01 9.86905815e-02 1.51506477e+02] [-2.37754138e-01 9.71128470e-01 -1.95566819e-02 -2.63569618e+01] [-1.00505763e-01 -4.57015754e-03 9.94925980e-01 -1.79591679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.03629675700003 meters 0.07484430956671931 Centerline is valid? [True, True] Translation: X:151.54, Y:-26.37, Z:-17.96 [[ 9.66526031e-01 2.37863564e-01 9.61683787e-02 1.51537037e+02] [-2.37137684e-01 9.71288754e-01 -1.90755061e-02 -2.63650390e+01] [-9.79446326e-02 -4.36817337e-03 9.95182279e-01 -1.79634909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.06629675700003 meters 0.07460501103204766 Centerline is valid? [True, True] Translation: X:151.57, Y:-26.37, Z:-17.97 [[ 9.67268802e-01 2.35356479e-01 9.48598546e-02 1.51566115e+02] [-2.34635727e-01 9.71900749e-01 -1.88416844e-02 -2.63722933e+01] [-9.66288763e-02 -4.03253741e-03 9.95312312e-01 -1.79678988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.09629675700003 meters 0.07388518180989323 Centerline is valid? [True, True] Translation: X:151.60, Y:-26.38, Z:-17.97 [[ 9.67555474e-01 2.34410437e-01 9.42769996e-02 1.51597189e+02] [-2.33693739e-01 9.72129855e-01 -1.87291435e-02 -2.63817839e+01] [-9.60397927e-02 -3.91045920e-03 9.95369814e-01 -1.79708235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.12629675700003 meters 0.07347787125250001 Centerline is valid? [True, True] Translation: X:151.63, Y:-26.39, Z:-17.97 [[ 9.67866949e-01 2.32899378e-01 9.48232482e-02 1.51628194e+02] [-2.32164804e-01 9.72493572e-01 -1.88614910e-02 -2.63902483e+01] [-9.66078289e-02 -3.75920700e-03 9.95315425e-01 -1.79732922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.15629675700004 meters 0.07303942078229853 Centerline is valid? [True, True] Translation: X:151.66, Y:-26.40, Z:-17.98 [[ 9.67944059e-01 2.33155008e-01 9.33972252e-02 1.51658798e+02] [-2.32441408e-01 9.72432524e-01 -1.86004751e-02 -2.63994050e+01] [-9.51592934e-02 -3.70516319e-03 9.95455163e-01 -1.79759597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.18629675700004 meters 0.07327101109658725 Centerline is valid? [True, True] Translation: X:151.69, Y:-26.40, Z:-17.98 [[ 9.67860239e-01 2.33322374e-01 9.38468285e-02 1.51688609e+02] [-2.32600333e-01 9.72392339e-01 -1.87142773e-02 -2.64045711e+01] [-9.56223967e-02 -3.71599870e-03 9.95410744e-01 -1.79810925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.21629675700004 meters 0.07344249092964705 Centerline is valid? [True, True] Translation: X:151.72, Y:-26.41, Z:-17.99 [[ 9.67791051e-01 2.33949027e-01 9.29964208e-02 1.51719370e+02] [-2.33240851e-01 9.72241738e-01 -1.85663082e-02 -2.64106554e+01] [-9.47585715e-02 -3.72225739e-03 9.95493324e-01 -1.79853777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.246296757 meters 0.07403998988152648 Centerline is valid? [True, True] Translation: X:151.75, Y:-26.42, Z:-17.99 [[ 9.67632432e-01 2.35914439e-01 8.96206106e-02 1.51749536e+02] [-2.35263306e-01 9.71766590e-01 -1.79129011e-02 -2.64165268e+01] [-9.13162271e-02 -3.75133705e-03 9.95814879e-01 -1.79918718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.276296757 meters 0.0742875689686649 Centerline is valid? [True, True] Translation: X:151.78, Y:-26.42, Z:-18.00 [[ 9.67570370e-01 2.36913036e-01 8.76344258e-02 1.51780597e+02] [-2.36292793e-01 9.71523660e-01 -1.75355090e-02 -2.64233950e+01] [-8.92933088e-02 -3.74054429e-03 9.95998350e-01 -1.79963045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.306296757 meters 0.07538685552114531 Centerline is valid? [True, True] Translation: X:151.81, Y:-26.43, Z:-18.00 [[ 9.66862514e-01 2.40438041e-01 8.58278974e-02 1.51810250e+02] [-2.39856681e-01 9.70656335e-01 -1.71770972e-02 -2.64290486e+01] [-8.74394199e-02 -3.97850326e-03 9.96161894e-01 -1.80016236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.336296757 meters 0.07532942613886538 Centerline is valid? [True, True] Translation: X:151.84, Y:-26.44, Z:-18.00 [[ 9.66249112e-01 2.43046205e-01 8.53885027e-02 1.51840256e+02] [-2.42479522e-01 9.70005719e-01 -1.71051838e-02 -2.64369686e+01] [-8.69846860e-02 -4.17709465e-03 9.96200892e-01 -1.80045308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.36629675700001 meters 0.07532396905654734 Centerline is valid? [True, True] Translation: X:151.87, Y:-26.44, Z:-18.01 [[ 9.65839808e-01 2.44392429e-01 8.61731198e-02 1.51871637e+02] [-2.43819021e-01 9.69666785e-01 -1.72803766e-02 -2.64439136e+01] [-8.77824052e-02 -4.32057005e-03 9.96130304e-01 -1.80081696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.39629675700002 meters 0.07617835884475957 Centerline is valid? [True, True] Translation: X:151.90, Y:-26.45, Z:-18.01 [[ 9.64942609e-01 2.47716253e-01 8.67318833e-02 1.51901527e+02] [-2.47146295e-01 9.68821581e-01 -1.74199073e-02 -2.64478184e+01] [-8.83429144e-02 -4.62625279e-03 9.96079378e-01 -1.80121665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.42629675700002 meters 0.07694953271595105 Centerline is valid? [True, True] Translation: X:151.93, Y:-26.45, Z:-18.02 [[ 9.64625517e-01 2.49095542e-01 8.63077236e-02 1.51932177e+02] [-2.48536613e-01 9.68467371e-01 -1.73350168e-02 -2.64528325e+01] [-8.79042896e-02 -4.72882977e-03 9.96117701e-01 -1.80167723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.45629675700002 meters 0.07723803546887963 Centerline is valid? [True, True] Translation: X:151.96, Y:-26.46, Z:-18.02 [[ 9.64366033e-01 2.49889803e-01 8.69093875e-02 1.51962040e+02] [-2.49326017e-01 9.68262224e-01 -1.74585823e-02 -2.64593840e+01] [-8.85137986e-02 -4.83230762e-03 9.96063229e-01 -1.80196064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48629675700002 meters 0.07846734752349416 Centerline is valid? [True, True] Translation: X:151.99, Y:-26.47, Z:-18.02 [[ 9.64608812e-01 2.49103756e-01 8.64705663e-02 1.51992346e+02] [-2.48540750e-01 9.68465318e-01 -1.73903141e-02 -2.64654816e+01] [-8.80757370e-02 -4.71660916e-03 9.96102614e-01 -1.80247422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51629675700002 meters 0.07638037934457308 Centerline is valid? [True, True] Translation: X:152.02, Y:-26.48, Z:-18.03 [[ 9.65350541e-01 2.46161932e-01 8.66177548e-02 1.52021450e+02] [-2.45583148e-01 9.69218578e-01 -1.74432216e-02 -2.64809655e+01] [-8.82453943e-02 -4.43303742e-03 9.96088901e-01 -1.80263646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54629675700002 meters 0.07595914963315173 Centerline is valid? [True, True] Translation: X:152.05, Y:-26.49, Z:-18.03 [[ 9.65944841e-01 2.44013270e-01 8.60702560e-02 1.52052002e+02] [-2.43432733e-01 9.69762783e-01 -1.73392643e-02 -2.64902353e+01] [-8.76987415e-02 -4.20354472e-03 9.96138174e-01 -1.80298150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57629675700002 meters 0.07495095069315841 Centerline is valid? [True, True] Translation: X:152.08, Y:-26.50, Z:-18.03 [[ 9.67157485e-01 2.39547400e-01 8.49908347e-02 1.52080813e+02] [-2.38963885e-01 9.70877439e-01 -1.71248575e-02 -2.65021132e+01] [-8.66178990e-02 -3.74730599e-03 9.96234559e-01 -1.80338065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60629675700002 meters 0.0743480959675577 Centerline is valid? [True, True] Translation: X:152.11, Y:-26.51, Z:-18.04 [[ 9.67673440e-01 2.37677474e-01 8.43654661e-02 1.52112023e+02] [-2.37094612e-01 9.71337665e-01 -1.70084288e-02 -2.65116122e+01] [-8.59898752e-02 -3.54399260e-03 9.96289708e-01 -1.80373656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.63629675700003 meters 0.07433012203807395 Centerline is valid? [True, True] Translation: X:152.14, Y:-26.52, Z:-18.04 [[ 9.67969531e-01 2.36757655e-01 8.35511834e-02 1.52142765e+02] [-2.36182305e-01 9.71562700e-01 -1.68475299e-02 -2.65195964e+01] [-8.51639950e-02 -3.42541544e-03 9.96361059e-01 -1.80412096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.66629675700003 meters 0.07371536375389254 Centerline is valid? [True, True] Translation: X:152.17, Y:-26.53, Z:-18.04 [[ 9.68372315e-01 2.34668965e-01 8.47675388e-02 1.52171504e+02] [-2.34066532e-01 9.72069864e-01 -1.71183356e-02 -2.65291630e+01] [-8.64171121e-02 -3.26432153e-03 9.96253696e-01 -1.80441595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.69629675700003 meters 0.072818245714328 Centerline is valid? [True, True] Translation: X:152.20, Y:-26.54, Z:-18.05 [[ 9.68671384e-01 2.34264567e-01 8.24370272e-02 1.52201934e+02] [-2.33693646e-01 9.72167805e-01 -1.66444880e-02 -2.65394952e+01] [-8.40418376e-02 -3.14197027e-03 9.96457273e-01 -1.80463902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.72629675700003 meters 0.07263072098972455 Centerline is valid? [True, True] Translation: X:152.23, Y:-26.55, Z:-18.05 [[ 9.68684536e-01 2.34181737e-01 8.25177780e-02 1.52232744e+02] [-2.33607689e-01 9.72187837e-01 -1.66810159e-02 -2.65459088e+01] [-8.41291695e-02 -3.11814525e-03 9.96449979e-01 -1.80500464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.75629675700003 meters 0.07214846566749329 Centerline is valid? [True, True] Translation: X:152.26, Y:-26.55, Z:-18.05 [[ 9.68428577e-01 2.35553230e-01 8.16135230e-02 1.52263803e+02] [-2.34994920e-01 9.71856238e-01 -1.65178491e-02 -2.65533565e+01] [-8.32074442e-02 -3.18240619e-03 9.96527166e-01 -1.80531276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.78629675700003 meters 0.07218877474725555 Centerline is valid? [True, True] Translation: X:152.29, Y:-26.56, Z:-18.06 [[ 9.68358762e-01 2.36245838e-01 8.04314154e-02 1.52294576e+02] [-2.35704296e-01 9.71688132e-01 -1.62990738e-02 -2.65594762e+01] [-8.20048401e-02 -3.17467916e-03 9.96626875e-01 -1.80567423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.81629675700003 meters 0.0726049323754346 Centerline is valid? [True, True] Translation: X:152.33, Y:-26.57, Z:-18.06 [[ 9.68350904e-01 2.36423557e-01 8.00026824e-02 1.52325931e+02] [-2.35886923e-01 9.71644969e-01 -1.62300059e-02 -2.65652485e+01] [-8.15713596e-02 -3.15524570e-03 9.96662509e-01 -1.80615247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.84629675700003 meters 0.07217104371716089 Centerline is valid? [True, True] Translation: X:152.36, Y:-26.57, Z:-18.06 [[ 9.68263837e-01 2.37171408e-01 7.88344166e-02 1.52356798e+02] [-2.36651067e-01 9.71462713e-01 -1.60146902e-02 -2.65737542e+01] [-8.03829228e-02 -3.14980344e-03 9.96759080e-01 -1.80638267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.87629675700003 meters 0.07252032901488516 Centerline is valid? [True, True] Translation: X:152.39, Y:-26.58, Z:-18.07 [[ 9.68158462e-01 2.37693171e-01 7.85566575e-02 1.52387072e+02] [-2.37176533e-01 9.71335144e-01 -1.59790783e-02 -2.65774522e+01] [-8.01029600e-02 -3.16151581e-03 9.96781581e-01 -1.80680651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.90629675700004 meters 0.07252032901488516 Centerline is valid? [True, True] Translation: X:152.42, Y:-26.58, Z:-18.07 [[ 9.68092775e-01 2.37961655e-01 7.85533493e-02 1.52418629e+02] [-2.37444582e-01 9.71269386e-01 -1.59953223e-02 -2.65839748e+01] [-8.01027367e-02 -3.16711123e-03 9.96781581e-01 -1.80716820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.93629675700004 meters 0.07288282364976074 Centerline is valid? [True, True] Translation: X:152.45, Y:-26.59, Z:-18.08 [[ 9.67453604e-01 2.40937879e-01 7.73463857e-02 1.52450536e+02] [-2.40443737e-01 9.70534819e-01 -1.57789010e-02 -2.65859423e+01] [-7.88690954e-02 -3.33209933e-03 9.96879412e-01 -1.80752165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.96629675700004 meters 0.07407640031313448 Centerline is valid? [True, True] Translation: X:152.48, Y:-26.59, Z:-18.08 [[ 9.67010935e-01 2.42668987e-01 7.74700844e-02 1.52481238e+02] [-2.42178525e-01 9.70102924e-01 -1.58075506e-02 -2.65864111e+01] [-7.89899577e-02 -3.47551646e-03 9.96869353e-01 -1.80810027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.996296757 meters 0.07469310683540722 Centerline is valid? [True, True] Translation: X:152.51, Y:-26.59, Z:-18.08 [[ 9.66013879e-01 2.46480533e-01 7.78751101e-02 1.52512990e+02] [-2.45996792e-01 9.69140288e-01 -1.58959456e-02 -2.65884011e+01] [-7.93899477e-02 -3.80132323e-03 9.96836389e-01 -1.80830597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.026296757 meters 0.07491681564868198 Centerline is valid? [True, True] Translation: X:152.54, Y:-26.59, Z:-18.09 [[ 9.65698104e-01 2.47831483e-01 7.75030797e-02 1.52544439e+02] [-2.47356441e-01 9.68795345e-01 -1.58231170e-02 -2.65927734e+01] [-7.90060893e-02 -3.89053188e-03 9.96866542e-01 -1.80859786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.056296757 meters 0.07436178938567684 Centerline is valid? [True, True] Translation: X:152.58, Y:-26.60, Z:-18.09 [[ 9.65154436e-01 2.49708224e-01 7.82477966e-02 1.52575971e+02] [-2.49230139e-01 9.68312517e-01 -1.59752091e-02 -2.65985119e+01] [-7.97574619e-02 -4.08316530e-03 9.96805936e-01 -1.80878100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.086296757 meters 0.07503440726388169 Centerline is valid? [True, True] Translation: X:152.61, Y:-26.60, Z:-18.09 [[ 9.64927032e-01 2.50858334e-01 7.73687258e-02 1.52607588e+02] [-2.50392615e-01 9.68015100e-01 -1.58210199e-02 -2.66017947e+01] [-7.88629295e-02 -4.10642780e-03 9.96877011e-01 -1.80923848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.11629675700001 meters 0.07635191822337795 Centerline is valid? [True, True] Translation: X:152.64, Y:-26.60, Z:-18.10 [[ 9.64404860e-01 2.53411333e-01 7.55378221e-02 1.52638259e+02] [-2.52974637e-01 9.67349477e-01 -1.54538684e-02 -2.66005531e+01] [-7.69876581e-02 -4.20536729e-03 9.97023177e-01 -1.80983902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.14629675700002 meters 0.07716022734027984 Centerline is valid? [True, True] Translation: X:152.67, Y:-26.60, Z:-18.10 [[ 9.63893508e-01 2.55382175e-01 7.54271150e-02 1.52668950e+02] [-2.54952840e-01 9.66830367e-01 -1.54301934e-02 -2.66025365e+01] [-7.68658217e-02 -4.35729396e-03 9.97031925e-01 -1.81023175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.17629675700002 meters 0.0754539860219546 Centerline is valid? [True, True] Translation: X:152.70, Y:-26.61, Z:-18.10 [[ 9.63777819e-01 2.55773299e-01 7.55799984e-02 1.52700855e+02] [-2.55343520e-01 9.66726782e-01 -1.54601310e-02 -2.66129333e+01] [-7.70194973e-02 -4.39873154e-03 9.97019884e-01 -1.81024830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.20629675700002 meters 0.07443492744677614 Centerline is valid? [True, True] Translation: X:152.73, Y:-26.62, Z:-18.10 [[ 9.63638588e-01 2.56283254e-01 7.56278160e-02 1.52732495e+02] [-2.55852790e-01 9.66591614e-01 -1.54919515e-02 -2.66215343e+01] [-7.70715405e-02 -4.42094548e-03 9.97015764e-01 -1.81040304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23629675700002 meters 0.07563084015983501 Centerline is valid? [True, True] Translation: X:152.76, Y:-26.62, Z:-18.11 [[ 9.63517118e-01 2.56474796e-01 7.65208623e-02 1.52764450e+02] [-2.56032764e-01 9.66540606e-01 -1.56996840e-02 -2.66220043e+01] [-7.79870939e-02 -4.46493365e-03 9.96944370e-01 -1.81077665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26629675700002 meters 0.07366342897651007 Centerline is valid? [True, True] Translation: X:152.80, Y:-26.63, Z:-18.11 [[ 9.63476397e-01 2.56314452e-01 7.75637422e-02 1.52795505e+02] [-2.55858142e-01 9.66583009e-01 -1.59341668e-02 -2.66311742e+01] [-7.90559526e-02 -4.49312133e-03 9.96860054e-01 -1.81068393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29629675700002 meters 0.07394569212363458 Centerline is valid? [True, True] Translation: X:152.83, Y:-26.64, Z:-18.11 [[ 9.63657153e-01 2.55602870e-01 7.76663662e-02 1.52825909e+02] [-2.55141144e-01 9.66771772e-01 -1.59792599e-02 -2.66352204e+01] [-7.91699952e-02 -4.41735745e-03 9.96851342e-01 -1.81113781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32629675700002 meters 0.0738854954114189 Centerline is valid? [True, True] Translation: X:152.86, Y:-26.64, Z:-18.12 [[ 9.64024832e-01 2.54645990e-01 7.62334837e-02 1.52857560e+02] [-2.54197573e-01 9.67025000e-01 -1.56921226e-02 -2.66397105e+01] [-7.77156207e-02 -4.25077072e-03 9.96966506e-01 -1.81153192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35629675700002 meters 0.073721830912108 Centerline is valid? [True, True] Translation: X:152.89, Y:-26.65, Z:-18.12 [[ 9.64183041e-01 2.54045735e-01 7.62353452e-02 1.52889060e+02] [-2.53593907e-01 9.67183159e-01 -1.57120247e-02 -2.66461196e+01] [-7.77251149e-02 -4.18355131e-03 9.96966050e-01 -1.81194442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.38629675700003 meters 0.07409022440651272 Centerline is valid? [True, True] Translation: X:152.92, Y:-26.65, Z:-18.12 [[ 9.64755843e-01 2.52038471e-01 7.56490115e-02 1.52919256e+02] [-2.51585360e-01 9.67709093e-01 -1.56178390e-02 -2.66500206e+01] [-7.71425326e-02 -3.96478239e-03 9.97012192e-01 -1.81240172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.41629675700003 meters 0.07347528972710432 Centerline is valid? [True, True] Translation: X:152.95, Y:-26.66, Z:-18.13 [[ 9.64878502e-01 2.51654084e-01 7.53637770e-02 1.52950259e+02] [-2.51203567e-01 9.67809293e-01 -1.55544219e-02 -2.66576827e+01] [-7.68520975e-02 -3.92352236e-03 9.97034784e-01 -1.81268493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.44629675700003 meters 0.07357892949446422 Centerline is valid? [True, True] Translation: X:152.98, Y:-26.66, Z:-18.13 [[ 9.65112280e-01 2.50869610e-01 7.49848314e-02 1.52981056e+02] [-2.50419742e-01 9.68013341e-01 -1.54959457e-02 -2.66622124e+01] [-7.64737790e-02 -3.82235470e-03 9.97064266e-01 -1.81309629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.47629675700003 meters 0.07346273009589142 Centerline is valid? [True, True] Translation: X:153.01, Y:-26.67, Z:-18.13 [[ 9.65256509e-01 2.50177716e-01 7.54385919e-02 1.53012624e+02] [-2.49718956e-01 9.68192578e-01 -1.56068687e-02 -2.66654262e+01] [-7.69435755e-02 -3.77381484e-03 9.97028307e-01 -1.81343249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.50629675700003 meters 0.0726032179444777 Centerline is valid? [True, True] Translation: X:153.04, Y:-26.67, Z:-18.14 [[ 9.65085838e-01 2.50871893e-01 7.53167844e-02 1.53044501e+02] [-2.50415300e-01 9.68012818e-01 -1.56000912e-02 -2.66690275e+01] [-7.68212370e-02 -3.80504804e-03 9.97037622e-01 -1.81370137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.53629675700003 meters 0.07304303414838097 Centerline is valid? [True, True] Translation: X:153.08, Y:-26.67, Z:-18.14 [[ 9.65021453e-01 2.51173854e-01 7.51351535e-02 1.53076043e+02] [-2.50718484e-01 9.67934546e-01 -1.55870347e-02 -2.66718676e+01] [-7.66409663e-02 -3.79594898e-03 9.97051530e-01 -1.81413234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.56629675700003 meters 0.07280804422802617 Centerline is valid? [True, True] Translation: X:153.11, Y:-26.68, Z:-18.14 [[ 9.64617591e-01 2.52007144e-01 7.74938882e-02 1.53108211e+02] [-2.51525219e-01 9.67717181e-01 -1.60785910e-02 -2.66762373e+01] [-7.90440869e-02 -3.98197546e-03 9.96863168e-01 -1.81429989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.59629675700003 meters 0.07288536712636186 Centerline is valid? [True, True] Translation: X:153.14, Y:-26.68, Z:-18.15 [[ 9.64347276e-01 2.52490838e-01 7.92635289e-02 1.53139980e+02] [-2.51986581e-01 9.67590624e-01 -1.64665289e-02 -2.66815068e+01] [-8.08522951e-02 -4.09389335e-03 9.96717686e-01 -1.81460327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.62629675700003 meters 0.07326647950256229 Centerline is valid? [True, True] Translation: X:153.17, Y:-26.68, Z:-18.15 [[ 9.64226305e-01 2.53155902e-01 7.86112068e-02 1.53171562e+02] [-2.52660508e-01 9.67416825e-01 -1.63509933e-02 -2.66826020e+01] [-8.01891546e-02 -4.09588956e-03 9.96771249e-01 -1.81502893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.65629675700004 meters 0.07350711828068822 Centerline is valid? [True, True] Translation: X:153.20, Y:-26.69, Z:-18.15 [[ 9.63996289e-01 2.54045732e-01 7.85615697e-02 1.53203558e+02] [-2.53552496e-01 9.67183303e-01 -1.63581951e-02 -2.66863484e+01] [-8.01391681e-02 -4.15024270e-03 9.96775044e-01 -1.81539974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.68629675700004 meters 0.07268390270690082 Centerline is valid? [True, True] Translation: X:153.24, Y:-26.69, Z:-18.16 [[ 9.63718919e-01 2.55175853e-01 7.83015293e-02 1.53235246e+02] [-2.54688088e-01 9.66885486e-01 -1.63228010e-02 -2.66931079e+01] [-7.98737969e-02 -4.21187466e-03 9.96796086e-01 -1.81558718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.71629675700004 meters 0.07510747145716788 Centerline is valid? [True, True] Translation: X:153.27, Y:-26.69, Z:-18.16 [[ 9.63420485e-01 2.56781769e-01 7.67078403e-02 1.53266508e+02] [-2.56317142e-01 9.66460126e-01 -1.60108281e-02 -2.66916802e+01] [-7.82463578e-02 -4.23637459e-03 9.96925053e-01 -1.81629727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.746296757 meters 0.07230544107297347 Centerline is valid? [True, True] Translation: X:153.30, Y:-26.71, Z:-18.16 [[ 9.63369736e-01 2.56830404e-01 7.71809211e-02 1.53296573e+02] [-2.56359067e-01 9.66447130e-01 -1.61236822e-02 -2.67054622e+01] [-7.87323316e-02 -4.25296147e-03 9.96886720e-01 -1.81618256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.776296757 meters 0.07534371124832535 Centerline is valid? [True, True] Translation: X:153.33, Y:-26.70, Z:-18.17 [[ 9.63296827e-01 2.57146909e-01 7.70369387e-02 1.53328824e+02] [-2.56676812e-01 9.66362969e-01 -1.61129494e-02 -2.67021511e+01] [-7.85890399e-02 -4.25204278e-03 9.96898030e-01 -1.81699258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.806296757 meters 0.0729797512249052 Centerline is valid? [True, True] Translation: X:153.36, Y:-26.71, Z:-18.17 [[ 9.63616878e-01 2.56095419e-01 7.65352735e-02 1.53359140e+02] [-2.55626441e-01 9.66642735e-01 -1.60295148e-02 -2.67141689e+01] [-7.80873514e-02 -4.11812853e-03 9.96938015e-01 -1.81701461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.836296757 meters 0.0720438151253467 Centerline is valid? [True, True] Translation: X:153.39, Y:-26.72, Z:-18.17 [[ 9.64471250e-01 2.53346872e-01 7.49037392e-02 1.53389138e+02] [-2.52887473e-01 9.67368089e-01 -1.57132613e-02 -2.67247467e+01] [-7.64403926e-02 -3.78722858e-03 9.97066960e-01 -1.81725043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.86629675700001 meters 0.07245368768197208 Centerline is valid? [True, True] Translation: X:153.42, Y:-26.73, Z:-18.18 [[ 9.64917066e-01 2.51717295e-01 7.46555994e-02 1.53419115e+02] [-2.51256383e-01 9.67793925e-01 -1.56571924e-02 -2.67308136e+01] [-7.61924218e-02 -3.64980372e-03 9.97086453e-01 -1.81768021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.89629675700002 meters 0.07126533277391214 Centerline is valid? [True, True] Translation: X:153.45, Y:-26.74, Z:-18.18 [[ 9.65586439e-01 2.49014635e-01 7.50635796e-02 1.53449170e+02] [-2.48538703e-01 9.68493640e-01 -1.57664924e-02 -2.67425817e+01] [-7.66246868e-02 -3.43229341e-03 9.97054099e-01 -1.81789448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.92629675700002 meters 0.07098791738756265 Centerline is valid? [True, True] Translation: X:153.48, Y:-26.75, Z:-18.18 [[ 9.65839171e-01 2.47976046e-01 7.52500865e-02 1.53479796e+02] [-2.47494802e-01 9.68760335e-01 -1.58030676e-02 -2.67509644e+01] [-7.68180811e-02 -3.36078355e-03 9.97039461e-01 -1.81812216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.95629675700002 meters 0.07114440325323572 Centerline is valid? [True, True] Translation: X:153.51, Y:-26.76, Z:-18.19 [[ 9.65997927e-01 2.47383446e-01 7.51627270e-02 1.53510066e+02] [-2.46900004e-01 9.68912072e-01 -1.58045867e-02 -2.67572050e+01] [-7.67358667e-02 -3.29047954e-03 9.97046027e-01 -1.81855138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98629675700002 meters 0.07107309359329307 Centerline is valid? [True, True] Translation: X:153.54, Y:-26.76, Z:-18.19 [[ 9.66289070e-01 2.45711655e-01 7.68844266e-02 1.53539371e+02] [-2.45198502e-01 9.69337664e-01 -1.61922174e-02 -2.67631835e+01] [-7.85055870e-02 -3.20558348e-03 9.96908520e-01 -1.81897223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01629675700002 meters 0.07087806036045584 Centerline is valid? [True, True] Translation: X:153.57, Y:-26.77, Z:-18.19 [[ 9.66333403e-01 2.45462418e-01 7.71229853e-02 1.53569933e+02] [-2.44945748e-01 9.69400823e-01 -1.62365517e-02 -2.67712033e+01] [-7.87485487e-02 -3.20102505e-03 9.96889372e-01 -1.81926482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04629675700002 meters 0.07048525788605431 Centerline is valid? [True, True] Translation: X:153.60, Y:-26.78, Z:-18.19 [[ 9.66469646e-01 2.45033680e-01 7.67783805e-02 1.53600731e+02] [-2.44518782e-01 9.69509503e-01 -1.61829509e-02 -2.67811252e+01] [-7.84027376e-02 -3.13342528e-03 9.96916843e-01 -1.81947298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07629675700002 meters 0.07260241590418068 Centerline is valid? [True, True] Translation: X:153.63, Y:-26.78, Z:-18.20 [[ 9.66533147e-01 2.45053446e-01 7.59110237e-02 1.53631555e+02] [-2.44548431e-01 9.69504687e-01 -1.60227046e-02 -2.67822075e+01] [-7.75225123e-02 -3.07744670e-03 9.96985852e-01 -1.82044193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10629675700002 meters 0.07127113376524055 Centerline is valid? [True, True] Translation: X:153.66, Y:-26.79, Z:-18.21 [[ 9.66524117e-01 2.45261027e-01 7.53535614e-02 1.53661588e+02] [-2.44763545e-01 9.69452234e-01 -1.59114098e-02 -2.67941546e+01] [-7.69541272e-02 -3.06504353e-03 9.97029923e-01 -1.82050413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.13629675700003 meters 0.07129672283654026 Centerline is valid? [True, True] Translation: X:153.69, Y:-26.80, Z:-18.21 [[ 9.66423560e-01 2.45682844e-01 7.52691335e-02 1.53693173e+02] [-2.45186400e-01 9.69345380e-01 -1.59111271e-02 -2.68011324e+01] [-7.68708778e-02 -3.07807976e-03 9.97036305e-01 -1.82092315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.16629675700003 meters 0.0732635097353405 Centerline is valid? [True, True] Translation: X:153.72, Y:-26.80, Z:-18.22 [[ 9.66241816e-01 2.46054023e-01 7.63817482e-02 1.53723554e+02] [-2.45542068e-01 9.69251060e-01 -1.61702050e-02 -2.68023413e+01] [-7.80118344e-02 -3.13060422e-03 9.96947518e-01 -1.82177136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.19629675700003 meters 0.07109927304009618 Centerline is valid? [True, True] Translation: X:153.75, Y:-26.82, Z:-18.22 [[ 9.66031059e-01 2.46313712e-01 7.81891836e-02 1.53753944e+02] [-2.45776648e-01 9.69184841e-01 -1.65705860e-02 -2.68171553e+01] [-7.98613340e-02 -3.20937473e-03 9.96800816e-01 -1.82151131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.22629675700003 meters 0.07362625183217256 Centerline is valid? [True, True] Translation: X:153.78, Y:-26.82, Z:-18.22 [[ 9.65905199e-01 2.46838634e-01 7.80886393e-02 1.53784448e+02] [-2.46303043e-01 9.69051218e-01 -1.65694843e-02 -2.68168790e+01] [-7.97618799e-02 -3.22891851e-03 9.96808716e-01 -1.82246355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.25629675700003 meters 0.07155823319791567 Centerline is valid? [True, True] Translation: X:153.81, Y:-26.83, Z:-18.22 [[ 9.65527211e-01 2.48529968e-01 7.73954738e-02 1.53814258e+02] [-2.48007863e-01 9.68618513e-01 -1.64400813e-02 -2.68313374e+01] [-7.90525417e-02 -3.32134023e-03 9.96864918e-01 -1.82219091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.28629675700003 meters 0.07508911525124946 Centerline is valid? [True, True] Translation: X:153.85, Y:-26.83, Z:-18.23 [[ 9.65249771e-01 2.49472909e-01 7.78212557e-02 1.53845970e+02] [-2.48946624e-01 9.68375811e-01 -1.65489318e-02 -2.68272802e+01] [-7.94887318e-02 -3.39948622e-03 9.96829968e-01 -1.82335971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.31629675700003 meters 0.07204757755051344 Centerline is valid? [True, True] Translation: X:153.88, Y:-26.84, Z:-18.23 [[ 9.65057311e-01 2.50517960e-01 7.68448967e-02 1.53875956e+02] [-2.50006342e-01 9.68105912e-01 -1.63637424e-02 -2.68443962e+01] [-7.84934102e-02 -3.41976233e-03 9.96908767e-01 -1.82297818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.34629675700003 meters 0.0719914239456006 Centerline is valid? [True, True] Translation: X:153.91, Y:-26.85, Z:-18.23 [[ 9.64851624e-01 2.51447659e-01 7.63899171e-02 1.53906299e+02] [-2.50945021e-01 9.67864660e-01 -1.62664327e-02 -2.68540840e+01] [-7.80252576e-02 -3.47497534e-03 9.96945326e-01 -1.82328480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.37629675700003 meters 0.07204864271894429 Centerline is valid? [True, True] Translation: X:153.94, Y:-26.86, Z:-18.24 [[ 9.64991887e-01 2.50776171e-01 7.68242810e-02 1.53937040e+02] [-2.50264124e-01 9.68039053e-01 -1.63786463e-02 -2.68620030e+01] [-7.84762785e-02 -3.42110056e-03 9.96910111e-01 -1.82370101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.40629675700004 meters 0.0716518866410806 Centerline is valid? [True, True] Translation: X:153.97, Y:-26.87, Z:-18.24 [[ 9.65166810e-01 2.49272437e-01 7.94750321e-02 1.53966604e+02] [-2.48717102e-01 9.68427479e-01 -1.69711920e-02 -2.68728476e+01] [-8.11962554e-02 -3.38676837e-03 9.96692379e-01 -1.82383991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.43629675700004 meters 0.0716404855641978 Centerline is valid? [True, True] Translation: X:154.00, Y:-26.88, Z:-18.24 [[ 9.65256749e-01 2.48398917e-01 8.11010860e-02 1.53997456e+02] [-2.47817371e-01 9.68651927e-01 -1.73203495e-02 -2.68801989e+01] [-8.28610793e-02 -3.37967373e-03 9.96555377e-01 -1.82416943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.46629675700004 meters 0.07122541729008891 Centerline is valid? [True, True] Translation: X:154.03, Y:-26.89, Z:-18.24 [[ 9.65365821e-01 2.47721674e-01 8.18706597e-02 1.54026819e+02] [-2.47126420e-01 9.68825445e-01 -1.74868746e-02 -2.68906837e+01] [-8.36502561e-02 -3.35117198e-03 9.96489540e-01 -1.82441809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.496296757 meters 0.07120423154548441 Centerline is valid? [True, True] Translation: X:154.06, Y:-26.90, Z:-18.25 [[ 9.65293557e-01 2.47827564e-01 8.24005249e-02 1.54058132e+02] [-2.47223318e-01 9.68798321e-01 -1.76194484e-02 -2.68987450e+01] [-8.41960751e-02 -3.36339111e-03 9.96443530e-01 -1.82479076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.526296757 meters 0.0721610919646708 Centerline is valid? [True, True] Translation: X:154.09, Y:-26.91, Z:-18.25 [[ 9.65153765e-01 2.48751927e-01 8.12446211e-02 1.54088263e+02] [-2.48166128e-01 9.68561346e-01 -1.73922745e-02 -2.69052912e+01] [-8.30167614e-02 -3.37594389e-03 9.96542433e-01 -1.82533087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.556296757 meters 0.07154810474269731 Centerline is valid? [True, True] Translation: X:154.12, Y:-26.92, Z:-18.26 [[ 9.65067606e-01 2.49252717e-01 8.07316511e-02 1.54118899e+02] [-2.48674418e-01 9.68432585e-01 -1.73021079e-02 -2.69150951e+01] [-8.24957590e-02 -3.37819244e-03 9.96585690e-01 -1.82562562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.586296757 meters 0.0725829698215203 Centerline is valid? [True, True] Translation: X:154.15, Y:-26.92, Z:-18.26 [[ 9.64849374e-01 2.50234812e-01 8.03008418e-02 1.54148590e+02] [-2.49663993e-01 9.68179141e-01 -1.72349105e-02 -2.69202228e+01] [-8.20583746e-02 -3.41913623e-03 9.96621660e-01 -1.82626607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.61629675700001 meters 0.0738488532547982 Centerline is valid? [True, True] Translation: X:154.18, Y:-26.93, Z:-18.27 [[ 9.64281351e-01 2.52718529e-01 7.93399080e-02 1.54177978e+02] [-2.52169011e-01 9.67533223e-01 -1.70367976e-02 -2.69258686e+01] [-8.10695113e-02 -3.57879991e-03 9.96702025e-01 -1.82677348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.64629675700002 meters 0.07235549396985548 Centerline is valid? [True, True] Translation: X:154.21, Y:-26.94, Z:-18.27 [[ 9.63891355e-01 2.54559493e-01 7.81851692e-02 1.54208203e+02] [-2.54031894e-01 9.67050118e-01 -1.67888838e-02 -2.69394627e+01] [-7.98827468e-02 -3.67886663e-03 9.96797478e-01 -1.82676880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.67629675700002 meters 0.07347760283062114 Centerline is valid? [True, True] Translation: X:154.24, Y:-26.94, Z:-18.27 [[ 9.62745969e-01 2.58337376e-01 7.98874194e-02 1.54238009e+02] [-2.57799113e-01 9.66046165e-01 -1.71588198e-02 -2.69433302e+01] [-8.16076996e-02 -4.07532134e-03 9.96656197e-01 -1.82715653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.70629675700002 meters 0.07383987901800211 Centerline is valid? [True, True] Translation: X:154.27, Y:-26.95, Z:-18.28 [[ 9.62121088e-01 2.60367276e-01 8.08201328e-02 1.54269319e+02] [-2.59823115e-01 9.65500105e-01 -1.73636681e-02 -2.69489833e+01] [-8.25527776e-02 -4.29298740e-03 9.96577448e-01 -1.82750442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73629675700002 meters 0.07489371261947118 Centerline is valid? [True, True] Translation: X:154.30, Y:-26.95, Z:-18.28 [[ 9.61393345e-01 2.62975557e-01 8.10351334e-02 1.54299172e+02] [-2.62435630e-01 9.64791980e-01 -1.74349090e-02 -2.69530277e+01] [-8.27670016e-02 -4.50470079e-03 9.96558744e-01 -1.82793940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76629675700002 meters 0.07521748845615216 Centerline is valid? [True, True] Translation: X:154.33, Y:-26.96, Z:-18.28 [[ 9.61305728e-01 2.63417552e-01 8.06380168e-02 1.54330763e+02] [-2.62884124e-01 9.64671340e-01 -1.73534691e-02 -2.69593457e+01] [-8.23603921e-02 -4.51646509e-03 9.96592378e-01 -1.82837116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79629675700002 meters 0.07521748845615216 Centerline is valid? [True, True] Translation: X:154.36, Y:-26.97, Z:-18.29 [[ 9.61233132e-01 2.63683560e-01 8.06340220e-02 1.54362274e+02] [-2.63149512e-01 9.64598646e-01 -1.73720079e-02 -2.69662281e+01] [-8.23601813e-02 -4.52025401e-03 9.96592378e-01 -1.82873319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82629675700002 meters 0.07582815084956762 Centerline is valid? [True, True] Translation: X:154.39, Y:-26.97, Z:-18.29 [[ 9.61514536e-01 2.62568721e-01 8.09163957e-02 1.54392026e+02] [-2.62024915e-01 9.64903190e-01 -1.74579138e-02 -2.69733391e+01] [-8.26603904e-02 -4.41607384e-03 9.96567990e-01 -1.82915521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85629675700002 meters 0.07523662218469042 Centerline is valid? [True, True] Translation: X:154.42, Y:-26.98, Z:-18.29 [[ 9.61944288e-01 2.61096315e-01 8.05723344e-02 1.54422513e+02] [-2.60550489e-01 9.65303383e-01 -1.74017678e-02 -2.69840729e+01] [-8.23202844e-02 -4.25363000e-03 9.96596848e-01 -1.82943112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.88629675700003 meters 0.07396024913739949 Centerline is valid? [True, True] Translation: X:154.45, Y:-27.00, Z:-18.30 [[ 9.63575562e-01 2.55009929e-01 8.05733981e-02 1.54450489e+02] [-2.54440796e-01 9.66931321e-01 -1.74270218e-02 -2.69980249e+01] [-8.23530059e-02 -3.70890723e-03 9.96596321e-01 -1.82970759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.91629675700003 meters 0.07369208255473295 Centerline is valid? [True, True] Translation: X:154.48, Y:-27.01, Z:-18.30 [[ 9.64464741e-01 2.51720477e-01 8.02780413e-02 1.54479857e+02] [-2.51143641e-01 9.67793975e-01 -1.73693086e-02 -2.70072671e+01] [-8.20648153e-02 -3.40923383e-03 9.96621163e-01 -1.83019542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.94629675700003 meters 0.07226956842346531 Centerline is valid? [True, True] Translation: X:154.51, Y:-27.02, Z:-18.30 [[ 9.66333055e-01 2.44173367e-01 8.11159306e-02 1.54507215e+02] [-2.43557185e-01 9.69727585e-01 -1.75587068e-02 -2.70222375e+01] [-8.29477240e-02 -2.78880895e-03 9.96549998e-01 -1.83049573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.97629675700003 meters 0.0711621545363571 Centerline is valid? [True, True] Translation: X:154.54, Y:-27.04, Z:-18.31 [[ 9.67316054e-01 2.40181200e-01 8.13181605e-02 1.54536936e+02] [-2.39547416e-01 9.70724988e-01 -1.76077769e-02 -2.70362941e+01] [-8.31666273e-02 -2.44726991e-03 9.96532650e-01 -1.83060683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.00629675700003 meters 0.07023596954033506 Centerline is valid? [True, True] Translation: X:154.57, Y:-27.05, Z:-18.31 [[ 9.68799193e-01 2.33312109e-01 8.36276479e-02 1.54566041e+02] [-2.32615818e-01 9.72400035e-01 -1.81122684e-02 -2.70521725e+01] [-8.55453392e-02 -1.90596269e-03 9.96332456e-01 -1.83079677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.03629675700003 meters 0.07003986069175712 Centerline is valid? [True, True] Translation: X:154.59, Y:-27.06, Z:-18.31 [[ 9.69918673e-01 2.28231297e-01 8.46654772e-02 1.54594018e+02] [-2.27497706e-01 9.73605832e-01 -1.83433483e-02 -2.70644958e+01] [-8.66173285e-02 -1.46964583e-03 9.96240573e-01 -1.83118778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.06629675700003 meters 0.06986389147945225 Centerline is valid? [True, True] Translation: X:154.62, Y:-27.07, Z:-18.32 [[ 9.70318237e-01 2.26237471e-01 8.54349198e-02 1.54624640e+02] [-2.25482935e-01 9.74071303e-01 -1.85079329e-02 -2.70737984e+01] [-8.74068915e-02 -1.30553160e-03 9.96171838e-01 -1.83161759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.09629675700003 meters 0.06986416463459301 Centerline is valid? [True, True] Translation: X:154.66, Y:-27.08, Z:-18.32 [[ 9.70481071e-01 2.25501009e-01 8.55323631e-02 1.54655605e+02] [-2.24740055e-01 9.74242170e-01 -1.85499731e-02 -2.70829702e+01] [-8.75122727e-02 -1.22015016e-03 9.96162694e-01 -1.83195652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.12629675700003 meters 0.07008701548230224 Centerline is valid? [True, True] Translation: X:154.69, Y:-27.09, Z:-18.32 [[ 9.70590079e-01 2.25179568e-01 8.51414173e-02 1.54685643e+02] [-2.24422362e-01 9.74316585e-01 -1.84877057e-02 -2.70925707e+01] [-8.71177485e-02 -1.16365424e-03 9.96197342e-01 -1.83243090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.15629675700004 meters 0.0702467681514153 Centerline is valid? [True, True] Translation: X:154.72, Y:-27.10, Z:-18.33 [[ 9.70265594e-01 2.26387194e-01 8.56359439e-02 1.54717272e+02] [-2.25624721e-01 9.74036567e-01 -1.86078569e-02 -2.71004398e+01] [-8.76251213e-02 -1.26702263e-03 9.96152716e-01 -1.83288039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.18629675700004 meters 0.07076190250317835 Centerline is valid? [True, True] Translation: X:154.75, Y:-27.11, Z:-18.33 [[ 9.69558620e-01 2.30290342e-01 8.32012023e-02 1.54748086e+02] [-2.29582610e-01 9.73120737e-01 -1.81068102e-02 -2.71067153e+01] [-8.51346388e-02 -1.54593530e-03 9.96368257e-01 -1.83340603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.21629675700004 meters 0.0711191454628092 Centerline is valid? [True, True] Translation: X:154.78, Y:-27.11, Z:-18.34 [[ 9.68995788e-01 2.32779608e-01 8.28300443e-02 1.54778405e+02] [-2.32087314e-01 9.72527925e-01 -1.80253454e-02 -2.71116474e+01] [-8.47504640e-02 -1.75731866e-03 9.96400658e-01 -1.83391579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.246296757 meters 0.0722749047166532 Centerline is valid? [True, True] Translation: X:154.81, Y:-27.11, Z:-18.35 [[ 9.67589458e-01 2.39082728e-01 8.13024608e-02 1.54809062e+02] [-2.38436137e-01 9.70996606e-01 -1.77144075e-02 -2.71122432e+01] [-8.31796223e-02 -2.24517071e-03 9.96532041e-01 -1.83454006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.276296757 meters 0.07275494893102755 Centerline is valid? [True, True] Translation: X:154.84, Y:-27.12, Z:-18.35 [[ 9.66947658e-01 2.41833159e-01 8.08019188e-02 1.54840473e+02] [-2.41203361e-01 9.70314734e-01 -1.76140858e-02 -2.71166891e+01] [-8.26629623e-02 -2.45779536e-03 9.96574530e-01 -1.83498970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.306296757 meters 0.07287142475537235 Centerline is valid? [True, True] Translation: X:154.87, Y:-27.13, Z:-18.35 [[ 9.66070083e-01 2.45477203e-01 8.03090108e-02 1.54871302e+02] [-2.44867145e-01 9.69398472e-01 -1.75123962e-02 -2.71251379e+01] [-8.21503264e-02 -2.74683610e-03 9.96616164e-01 -1.83520629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.336296757 meters 0.07307249056992333 Centerline is valid? [True, True] Translation: X:154.90, Y:-27.13, Z:-18.36 [[ 9.65847582e-01 2.46721433e-01 7.91642805e-02 1.54902093e+02] [-2.46132910e-01 9.69082361e-01 -1.72617366e-02 -2.71319194e+01] [-8.09755483e-02 -2.81272818e-03 9.96712119e-01 -1.83559684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.36629675700001 meters 0.07324562933857444 Centerline is valid? [True, True] Translation: X:154.93, Y:-27.14, Z:-18.36 [[ 9.65604166e-01 2.47567178e-01 7.94926900e-02 1.54934069e+02] [-2.46975067e-01 9.68866458e-01 -1.73523130e-02 -2.71396280e+01] [-8.13136642e-02 -2.87724670e-03 9.96684408e-01 -1.83601940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.39629675700002 meters 0.07419498323827664 Centerline is valid? [True, True] Translation: X:154.97, Y:-27.14, Z:-18.37 [[ 9.65601512e-01 2.47080686e-01 8.10237974e-02 1.54965059e+02] [-2.46461737e-01 9.68990668e-01 -1.77114954e-02 -2.71431993e+01] [-8.28874720e-02 -2.86701909e-03 9.96554789e-01 -1.83665415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.42629675700002 meters 0.07416751065446493 Centerline is valid? [True, True] Translation: X:155.00, Y:-27.15, Z:-18.37 [[ 9.65660426e-01 2.46904245e-01 8.08593582e-02 1.54995899e+02] [-2.46285475e-01 9.69035762e-01 -1.76962439e-02 -2.71513973e+01] [-8.27248876e-02 -2.82592300e-03 9.96568416e-01 -1.83697293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.45629675700002 meters 0.0724705830395196 Centerline is valid? [True, True] Translation: X:155.03, Y:-27.17, Z:-18.37 [[ 9.66147418e-01 2.44603216e-01 8.20270234e-02 1.55025561e+02] [-2.43956109e-01 9.69619657e-01 -1.79760476e-02 -2.71657206e+01] [-8.39320133e-02 -2.64348143e-03 9.96467977e-01 -1.83675330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48629675700002 meters 0.07185134454101234 Centerline is valid? [True, True] Translation: X:155.06, Y:-27.18, Z:-18.37 [[ 9.66704082e-01 2.42013101e-01 8.31437124e-02 1.55055437e+02] [-2.41338270e-01 9.70269896e-01 -1.82255042e-02 -2.71752020e+01] [-8.50826519e-02 -2.44709038e-03 9.96370892e-01 -1.83697499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51629675700002 meters 0.07173232675706358 Centerline is valid? [True, True] Translation: X:155.09, Y:-27.18, Z:-18.37 [[ 9.67021167e-01 2.40738554e-01 8.31565414e-02 1.55086695e+02] [-2.40058924e-01 9.70587188e-01 -1.82270089e-02 -2.71830756e+01] [-8.50986175e-02 -2.33656646e-03 9.96369794e-01 -1.83733405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54629675700002 meters 0.07108724684724926 Centerline is valid? [True, True] Translation: X:155.12, Y:-27.19, Z:-18.38 [[ 9.67724710e-01 2.37533984e-01 8.41813091e-02 1.55117322e+02] [-2.36823128e-01 9.71377056e-01 -1.84776082e-02 -2.71917040e+01] [-8.61608521e-02 -2.05484289e-03 9.96279120e-01 -1.83759553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57629675700002 meters 0.07059525570002105 Centerline is valid? [True, True] Translation: X:155.15, Y:-27.20, Z:-18.38 [[ 9.68114413e-01 2.36224301e-01 8.33820329e-02 1.55148336e+02] [-2.35522113e-01 9.71696656e-01 -1.83014419e-02 -2.72011119e+01] [-8.53452879e-02 -1.92042292e-03 9.96349584e-01 -1.83771609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60629675700002 meters 0.07006781241774113 Centerline is valid? [True, True] Translation: X:155.18, Y:-27.21, Z:-18.38 [[ 9.68704813e-01 2.33327003e-01 8.46728658e-02 1.55178752e+02] [-2.32589760e-01 9.72396898e-01 -1.86084862e-02 -2.72084227e+01] [-8.66774944e-02 -1.66791138e-03 9.96235028e-01 -1.83801275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.63629675700003 meters 0.07015154064574812 Centerline is valid? [True, True] Translation: X:155.21, Y:-27.21, Z:-18.38 [[ 9.68831088e-01 2.32653943e-01 8.50791739e-02 1.55209106e+02] [-2.31905504e-01 9.72558269e-01 -1.87149678e-02 -2.72137705e+01] [-8.70985652e-02 -1.59868605e-03 9.96198416e-01 -1.83847457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.66629675700003 meters 0.06971874334325076 Centerline is valid? [True, True] Translation: X:155.24, Y:-27.22, Z:-18.39 [[ 9.69118862e-01 2.31510246e-01 8.49213618e-02 1.55239961e+02] [-2.30759350e-01 9.72831334e-01 -1.86900371e-02 -2.72213627e+01] [-8.69410968e-02 -1.48353071e-03 9.96212349e-01 -1.83866073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.69629675700003 meters 0.06958679604955645 Centerline is valid? [True, True] Translation: X:155.27, Y:-27.23, Z:-18.39 [[ 9.69063127e-01 2.31278347e-01 8.61799388e-02 1.55271278e+02] [-2.30502112e-01 9.72886523e-01 -1.89892141e-02 -2.72274956e+01] [-8.82350950e-02 -1.46291076e-03 9.96098604e-01 -1.83905015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.72629675700003 meters 0.06981201747488672 Centerline is valid? [True, True] Translation: X:155.30, Y:-27.23, Z:-18.39 [[ 9.68720366e-01 2.32746334e-01 8.60813358e-02 1.55302341e+02] [-2.31975731e-01 9.72536204e-01 -1.89892577e-02 -2.72310442e+01] [-8.81368957e-02 -1.57350009e-03 9.96107129e-01 -1.83942826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.75629675700003 meters 0.06965100474020816 Centerline is valid? [True, True] Translation: X:155.33, Y:-27.24, Z:-18.40 [[ 9.68617085e-01 2.33132497e-01 8.61984942e-02 1.55334100e+02] [-2.32359655e-01 9.72443676e-01 -1.90338718e-02 -2.72369257e+01] [-8.82605946e-02 -1.59251890e-03 9.96096146e-01 -1.83975642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.78629675700003 meters 0.06966738068594254 Centerline is valid? [True, True] Translation: X:155.37, Y:-27.24, Z:-18.40 [[ 9.68236478e-01 2.35754651e-01 8.32938590e-02 1.55365486e+02] [-2.35040391e-01 9.71811046e-01 -1.84202434e-02 -2.72428885e+01] [-8.52885503e-02 -1.74226962e-03 9.96354770e-01 -1.84003688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.81629675700003 meters 0.06998187379717806 Centerline is valid? [True, True] Translation: X:155.40, Y:-27.25, Z:-18.40 [[ 9.67915553e-01 2.37415291e-01 8.23010494e-02 1.55395864e+02] [-2.36723901e-01 9.71406455e-01 -1.82014746e-02 -2.72477294e+01] [-8.42690791e-02 -1.86513509e-03 9.96441290e-01 -1.84049093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.84629675700003 meters 0.07050989307374694 Centerline is valid? [True, True] Translation: X:155.43, Y:-27.25, Z:-18.41 [[ 9.67166802e-01 2.41596662e-01 7.88633628e-02 1.55426703e+02] [-2.40974286e-01 9.70374447e-01 -1.74592871e-02 -2.72497395e+01] [-8.07450975e-02 -2.11799963e-03 9.96732533e-01 -1.84099604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.87629675700003 meters 0.07097377502662351 Centerline is valid? [True, True] Translation: X:155.46, Y:-27.25, Z:-18.42 [[ 9.66315473e-01 2.45554668e-01 7.70539510e-02 1.55457941e+02] [-2.44971815e-01 9.69379832e-01 -1.70748872e-02 -2.72516831e+01] [-7.88873643e-02 -2.37631850e-03 9.96880703e-01 -1.84152156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.90629675700004 meters 0.07068441694070877 Centerline is valid? [True, True] Translation: X:155.49, Y:-27.26, Z:-18.42 [[ 9.65928630e-01 2.47458464e-01 7.58036332e-02 1.55488859e+02] [-2.46899008e-01 9.68895341e-01 -1.68136025e-02 -2.72581929e+01] [-7.76064553e-02 -2.47510177e-03 9.96980999e-01 -1.84177800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.93629675700004 meters 0.07152142546172262 Centerline is valid? [True, True] Translation: X:155.52, Y:-27.26, Z:-18.42 [[ 9.65692069e-01 2.48237766e-01 7.62682031e-02 1.55520349e+02] [-2.47672247e-01 9.68695821e-01 -1.69370952e-02 -2.72602417e+01] [-7.80851162e-02 -2.53349869e-03 9.96943477e-01 -1.84249766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.96629675700004 meters 0.07074436621250822 Centerline is valid? [True, True] Translation: X:155.55, Y:-27.27, Z:-18.43 [[ 9.65587695e-01 2.48574661e-01 7.64921009e-02 1.55552344e+02] [-2.48006012e-01 9.68609362e-01 -1.69976991e-02 -2.72689193e+01] [-7.83161623e-02 -2.55773185e-03 9.96925291e-01 -1.84261623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.996296757 meters 0.07042605365349117 Centerline is valid? [True, True] Translation: X:155.58, Y:-27.28, Z:-18.43 [[ 9.65696912e-01 2.47855929e-01 7.74397366e-02 1.55582663e+02] [-2.47268810e-01 9.68793660e-01 -1.72330914e-02 -2.72760435e+01] [-7.92944498e-02 -2.50648844e-03 9.96848087e-01 -1.84286801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.026296757 meters 0.06997098583365306 Centerline is valid? [True, True] Translation: X:155.61, Y:-27.28, Z:-18.43 [[ 9.66018136e-01 2.46152572e-01 7.88534827e-02 1.55612349e+02] [-2.45536257e-01 9.69228152e-01 -1.75708847e-02 -2.72840719e+01] [-8.07521338e-02 -2.38759568e-03 9.96731354e-01 -1.84296066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.056296757 meters 0.06948460934461576 Centerline is valid? [True, True] Translation: X:155.64, Y:-27.29, Z:-18.43 [[ 9.66325381e-01 2.44403561e-01 8.05118501e-02 1.55643596e+02] [-2.43754171e-01 9.69670925e-01 -1.79499604e-02 -2.72910582e+01] [-8.24570344e-02 -2.27959696e-03 9.96592013e-01 -1.84307426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.086296757 meters 0.06923321459996706 Centerline is valid? [True, True] Translation: X:155.67, Y:-27.30, Z:-18.43 [[ 9.66458502e-01 2.43850728e-01 8.05902332e-02 1.55674461e+02] [-2.43198246e-01 9.69810200e-01 -1.79663282e-02 -2.72977352e+01] [-8.25383324e-02 -2.23569269e-03 9.96585383e-01 -1.84337177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.11629675700001 meters 0.06878948232220902 Centerline is valid? [True, True] Translation: X:155.71, Y:-27.30, Z:-18.44 [[ 9.66573417e-01 2.43173504e-01 8.12556193e-02 1.55705451e+02] [-2.42506100e-01 9.69980367e-01 -1.81350489e-02 -2.73045102e+01] [-8.32263187e-02 -2.17612717e-03 9.96528296e-01 -1.84355920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.14629675700002 meters 0.068819746486986 Centerline is valid? [True, True] Translation: X:155.74, Y:-27.31, Z:-18.44 [[ 9.66660030e-01 2.42756214e-01 8.14727364e-02 1.55735665e+02] [-2.42082006e-01 9.70084997e-01 -1.82043973e-02 -2.73110495e+01] [-8.34547098e-02 -2.12562024e-03 9.96509304e-01 -1.84387512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.17629675700002 meters 0.06871754556309752 Centerline is valid? [True, True] Translation: X:155.77, Y:-27.32, Z:-18.44 [[ 9.67019776e-01 2.41549676e-01 8.07868019e-02 1.55767064e+02] [-2.40881090e-01 9.70386421e-01 -1.80691377e-02 -2.73190084e+01] [-8.27590099e-02 -1.98679937e-03 9.96567609e-01 -1.84418356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.20629675700002 meters 0.06853839120203077 Centerline is valid? [True, True] Translation: X:155.80, Y:-27.33, Z:-18.45 [[ 9.67174405e-01 2.41084643e-01 8.03235021e-02 1.55798700e+02] [-2.40420560e-01 9.70502199e-01 -1.79843297e-02 -2.73265254e+01] [-8.22898811e-02 -1.91743800e-03 9.96606592e-01 -1.84463028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.23629675700002 meters 0.06824684169763001 Centerline is valid? [True, True] Translation: X:155.83, Y:-27.33, Z:-18.45 [[ 9.67496093e-01 2.39877822e-01 8.00620992e-02 1.55830034e+02] [-2.39212018e-01 9.70801442e-01 -1.79491001e-02 -2.73348169e+01] [-8.20299924e-02 -1.78613209e-03 9.96628261e-01 -1.84479240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26629675700002 meters 0.06851908012937419 Centerline is valid? [True, True] Translation: X:155.86, Y:-27.34, Z:-18.45 [[ 9.67538130e-01 2.39819183e-01 7.97290813e-02 1.55861543e+02] [-2.39157080e-01 9.70815988e-01 -1.78943899e-02 -2.73397800e+01] [-8.16936848e-02 -1.75426969e-03 9.96655941e-01 -1.84538285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29629675700002 meters 0.06849863539162938 Centerline is valid? [True, True] Translation: X:155.89, Y:-27.35, Z:-18.46 [[ 9.67540344e-01 2.40226995e-01 7.84644768e-02 1.55892350e+02] [-2.39585364e-01 9.70715183e-01 -1.76319973e-02 -2.73473375e+01] [-8.04023407e-02 -1.73927159e-03 9.96760974e-01 -1.84570315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32629675700002 meters 0.06867721409848128 Centerline is valid? [True, True] Translation: X:155.92, Y:-27.35, Z:-18.46 [[ 9.67463723e-01 2.40718558e-01 7.79007070e-02 1.55923285e+02] [-2.40086130e-01 9.70593386e-01 -1.75251163e-02 -2.73542646e+01] [-7.98285317e-02 -1.74796495e-03 9.96807078e-01 -1.84613950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35629675700002 meters 0.06897198112791338 Centerline is valid? [True, True] Translation: X:155.95, Y:-27.36, Z:-18.47 [[ 9.67266481e-01 2.42061572e-01 7.61692213e-02 1.55954447e+02] [-2.41459189e-01 9.70259233e-01 -1.71604174e-02 -2.73609861e+01] [-7.80577679e-02 -1.79306185e-03 9.96947225e-01 -1.84653008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.38629675700003 meters 0.06922368904654182 Centerline is valid? [True, True] Translation: X:155.99, Y:-27.37, Z:-18.47 [[ 9.67053659e-01 2.42747111e-01 7.66880749e-02 1.55985788e+02] [-2.42138684e-01 9.70087818e-01 -1.72766761e-02 -2.73667157e+01] [-7.85880305e-02 -1.86167664e-03 9.96905440e-01 -1.84700353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.41629675700003 meters 0.0693896778460584 Centerline is valid? [True, True] Translation: X:156.02, Y:-27.37, Z:-18.47 [[ 9.66647463e-01 2.44125352e-01 7.74305805e-02 1.56018172e+02] [-2.43507809e-01 9.69741678e-01 -1.74649638e-02 -2.73725159e+01] [-7.93513015e-02 -1.97248803e-03 9.96844762e-01 -1.84746517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.44629675700003 meters 0.06974998138527483 Centerline is valid? [True, True] Translation: X:156.05, Y:-27.38, Z:-18.48 [[ 9.66402866e-01 2.44797238e-01 7.83569566e-02 1.56048495e+02] [-2.44165001e-01 9.69572174e-01 -1.76989242e-02 -2.73781728e+01] [-8.03053725e-02 -2.02773532e-03 9.96768246e-01 -1.84803513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.47629675700003 meters 0.07003727155838911 Centerline is valid? [True, True] Translation: X:156.08, Y:-27.38, Z:-18.48 [[ 9.65785688e-01 2.46938958e-01 7.92411231e-02 1.56079255e+02] [-2.46297760e-01 9.69028518e-01 -1.79205075e-02 -2.73847464e+01] [-8.12121795e-02 -2.20954142e-03 9.96694386e-01 -1.84836125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.50629675700003 meters 0.07007683562758882 Centerline is valid? [True, True] Translation: X:156.11, Y:-27.39, Z:-18.49 [[ 9.65552787e-01 2.47466959e-01 8.04233801e-02 1.56110459e+02] [-2.46807619e-01 9.68893650e-01 -1.81959720e-02 -2.73914948e+01] [-8.24246042e-02 -2.27993147e-03 9.96594695e-01 -1.84881885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.53629675700003 meters 0.07018960885542325 Centerline is valid? [True, True] Translation: X:156.14, Y:-27.40, Z:-18.49 [[ 9.65392565e-01 2.48343668e-01 7.96405516e-02 1.56139972e+02] [-2.47698407e-01 9.68669231e-01 -1.80394162e-02 -2.73989338e+01] [-8.16253266e-02 -2.31171946e-03 9.96660405e-01 -1.84923988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.56629675700003 meters 0.07025996411055362 Centerline is valid? [True, True] Translation: X:156.17, Y:-27.41, Z:-18.50 [[ 9.65319687e-01 2.48169558e-01 8.10541344e-02 1.56171449e+02] [-2.47498686e-01 9.68713841e-01 -1.83819322e-02 -2.74067239e+01] [-8.30800978e-02 -2.31635070e-03 9.96540181e-01 -1.84965426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.59629675700003 meters 0.0705468510062673 Centerline is valid? [True, True] Translation: X:156.20, Y:-27.41, Z:-18.50 [[ 9.65133214e-01 2.48803978e-01 8.13293336e-02 1.56202251e+02] [-2.48129958e-01 9.68550962e-01 -1.84542124e-02 -2.74140688e+01] [-8.33630858e-02 -2.36947075e-03 9.96516423e-01 -1.85013050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.62629675700003 meters 0.07029795337241154 Centerline is valid? [True, True] Translation: X:156.23, Y:-27.42, Z:-18.50 [[ 9.64912386e-01 2.49261490e-01 8.25396711e-02 1.56233329e+02] [-2.48567805e-01 9.68433164e-01 -1.87417676e-02 -2.74230606e+01] [-8.46057557e-02 -2.43254123e-03 9.96411536e-01 -1.85033609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.65629675700004 meters 0.07038147801552634 Centerline is valid? [True, True] Translation: X:156.27, Y:-27.43, Z:-18.51 [[ 9.64380040e-01 2.50800689e-01 8.40841954e-02 1.56265156e+02] [-2.50084795e-01 9.68035266e-01 -1.91133135e-02 -2.74302125e+01] [-8.61900986e-02 -2.59568064e-03 9.96275328e-01 -1.85057798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.68629675700004 meters 0.07052542903148946 Centerline is valid? [True, True] Translation: X:156.30, Y:-27.44, Z:-18.51 [[ 9.63923160e-01 2.52111003e-01 8.53942786e-02 1.56296890e+02] [-2.51375514e-01 9.67694468e-01 -1.94362338e-02 -2.74367109e+01] [-8.75356594e-02 -2.73099480e-03 9.96157643e-01 -1.85092428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.71629675700004 meters 0.07052542903148946 Centerline is valid? [True, True] Translation: X:156.33, Y:-27.44, Z:-18.51 [[ 9.63854239e-01 2.52376177e-01 8.53889387e-02 1.56328271e+02] [-2.51639652e-01 9.67625344e-01 -1.94596613e-02 -2.74439566e+01] [-8.75356562e-02 -2.73096581e-03 9.96157644e-01 -1.85128607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.746296757 meters 0.0710468133923627 Centerline is valid? [True, True] Translation: X:156.36, Y:-27.45, Z:-18.52 [[ 9.62973505e-01 2.55431436e-01 8.62369463e-02 1.56359501e+02] [-2.54689734e-01 9.66822488e-01 -1.96828707e-02 -2.74483407e+01] [-8.84034429e-02 -3.00958194e-03 9.96080204e-01 -1.85170196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.776296757 meters 0.07145826676255163 Centerline is valid? [True, True] Translation: X:156.39, Y:-27.45, Z:-18.52 [[ 9.62514316e-01 2.57224619e-01 8.60330563e-02 1.56390487e+02] [-2.56493370e-01 9.66346460e-01 -1.96384872e-02 -2.74540239e+01] [-8.81892418e-02 -3.16458343e-03 9.96098711e-01 -1.85211366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.806296757 meters 0.07130436279140656 Centerline is valid? [True, True] Translation: X:156.42, Y:-27.46, Z:-18.52 [[ 9.61585953e-01 2.60225660e-01 8.73788387e-02 1.56421355e+02] [-2.59481639e-01 9.65541584e-01 -1.99681907e-02 -2.74612029e+01] [-8.95641379e-02 -3.47207258e-03 9.95975005e-01 -1.85237941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.836296757 meters 0.07159957338507589 Centerline is valid? [True, True] Translation: X:156.45, Y:-27.47, Z:-18.53 [[ 9.61140832e-01 2.61539148e-01 8.83491614e-02 1.56451445e+02] [-2.60781917e-01 9.65186109e-01 -2.02130277e-02 -2.74665569e+01] [-9.05598814e-02 -3.61229741e-03 9.95884461e-01 -1.85272969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.86629675700001 meters 0.0723168091071683 Centerline is valid? [True, True] Translation: X:156.48, Y:-27.47, Z:-18.53 [[ 9.60469824e-01 2.64208764e-01 8.77008924e-02 1.56482380e+02] [-2.63471788e-01 9.64457970e-01 -2.00858427e-02 -2.74714479e+01] [-8.98906803e-02 -3.81486511e-03 9.95944332e-01 -1.85314427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.89629675700002 meters 0.07248321596949968 Centerline is valid? [True, True] Translation: X:156.51, Y:-27.48, Z:-18.54 [[ 9.60072147e-01 2.65585941e-01 8.78952853e-02 1.56513831e+02] [-2.64849540e-01 9.64079169e-01 -2.01513310e-02 -2.74776330e+01] [-9.00899239e-02 -3.93229431e-03 9.95925872e-01 -1.85356708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.92629675700002 meters 0.07279993990374906 Centerline is valid? [True, True] Translation: X:156.54, Y:-27.48, Z:-18.54 [[ 9.59842724e-01 2.66615287e-01 8.72824905e-02 1.56543816e+02] [-2.65891295e-01 9.63794824e-01 -2.00338923e-02 -2.74826460e+01] [-8.94637545e-02 -3.97826867e-03 9.95982133e-01 -1.85404625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.95629675700002 meters 0.0725542808532638 Centerline is valid? [True, True] Translation: X:156.57, Y:-27.49, Z:-18.54 [[ 9.59674993e-01 2.67313006e-01 8.69923241e-02 1.56574655e+02] [-2.66594860e-01 9.63601409e-01 -1.99876061e-02 -2.74901138e+01] [-8.91688732e-02 -4.01010074e-03 9.96008449e-01 -1.85437521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98629675700002 meters 0.07242903329713761 Centerline is valid? [True, True] Translation: X:156.61, Y:-27.50, Z:-18.55 [[ 9.59658181e-01 2.67644815e-01 8.61535210e-02 1.56605501e+02] [-2.66939856e-01 9.63509423e-01 -1.98167803e-02 -2.74971441e+01] [-8.83135879e-02 -3.98047315e-03 9.96084768e-01 -1.85480947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01629675700002 meters 0.07307793221247658 Centerline is valid? [True, True] Translation: X:156.64, Y:-27.50, Z:-18.55 [[ 9.59656978e-01 2.67555761e-01 8.64430449e-02 1.56635946e+02] [-2.66843636e-01 9.63534227e-01 -1.99064766e-02 -2.75017658e+01] [-8.86169249e-02 -3.96338725e-03 9.96057896e-01 -1.85534499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04629675700002 meters 0.07259600117362977 Centerline is valid? [True, True] Translation: X:156.67, Y:-27.51, Z:-18.56 [[ 9.59917436e-01 2.67184467e-01 8.46816184e-02 1.56667054e+02] [-2.66497946e-01 9.63637793e-01 -1.95204688e-02 -2.75098781e+01] [-8.68179739e-02 -3.82943901e-03 9.96216831e-01 -1.85569314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07629675700002 meters 0.07174837643646939 Centerline is valid? [True, True] Translation: X:156.70, Y:-27.52, Z:-18.56 [[ 9.60166496e-01 2.65588062e-01 8.68520650e-02 1.56697810e+02] [-2.64856895e-01 9.64079297e-01 -2.00482857e-02 -2.75180090e+01] [-8.90568631e-02 -3.75367604e-03 9.96019470e-01 -1.85593624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10629675700002 meters 0.07194675570185119 Centerline is valid? [True, True] Translation: X:156.73, Y:-27.52, Z:-18.56 [[ 9.60270010e-01 2.64948008e-01 8.76587758e-02 1.56728236e+02] [-2.64200415e-01 9.64255494e-01 -2.02357047e-02 -2.75229457e+01] [-8.98868657e-02 -3.72774455e-03 9.95945006e-01 -1.85633834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.13629675700003 meters 0.07078418255805227 Centerline is valid? [True, True] Translation: X:156.76, Y:-27.53, Z:-18.56 [[ 9.60614322e-01 2.63027149e-01 8.96484479e-02 1.56758676e+02] [-2.62234488e-01 9.64781699e-01 -2.07206534e-02 -2.75326122e+01] [-9.19412763e-02 -3.60435846e-03 9.95757907e-01 -1.85640833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.16629675700003 meters 0.07106859202171963 Centerline is valid? [True, True] Translation: X:156.79, Y:-27.54, Z:-18.57 [[ 9.60636823e-01 2.62637526e-01 9.05451538e-02 1.56788894e+02] [-2.61827009e-01 9.64887849e-01 -2.09297926e-02 -2.75387467e+01] [-9.28628676e-02 -3.60123742e-03 9.95672395e-01 -1.85675755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.19629675700003 meters 0.07060906064567948 Centerline is valid? [True, True] Translation: X:156.82, Y:-27.55, Z:-18.57 [[ 9.61058020e-01 2.61041907e-01 9.06896046e-02 1.56819584e+02] [-2.60219708e-01 9.65321369e-01 -2.09846966e-02 -2.75463345e+01] [-9.30224985e-02 -3.43171143e-03 9.95658093e-01 -1.85710643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.22629675700003 meters 0.06987393495052187 Centerline is valid? [True, True] Translation: X:156.85, Y:-27.56, Z:-18.57 [[ 9.61911660e-01 2.58002492e-01 9.03364391e-02 1.56849789e+02] [-2.57170872e-01 9.66139279e-01 -2.09293312e-02 -2.75552591e+01] [-9.26774018e-02 -3.09973312e-03 9.95691363e-01 -1.85745569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.25629675700003 meters 0.06963061471516277 Centerline is valid? [True, True] Translation: X:156.88, Y:-27.56, Z:-18.58 [[ 9.62316890e-01 2.56503037e-01 9.02906142e-02 1.56880848e+02] [-2.55665552e-01 9.66538915e-01 -2.09201015e-02 -2.75623543e+01] [-9.26354619e-02 -2.95243269e-03 9.95695714e-01 -1.85789131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.28629675700003 meters 0.06964558457710507 Centerline is valid? [True, True] Translation: X:156.91, Y:-27.57, Z:-18.58 [[ 9.62708415e-01 2.55346836e-01 8.93896010e-02 1.56911898e+02] [-2.54518762e-01 9.66845498e-01 -2.07360187e-02 -2.75686049e+01] [-9.17208101e-02 -2.78859089e-03 9.95780858e-01 -1.85827498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.31629675700003 meters 0.06916203872449755 Centerline is valid? [True, True] Translation: X:156.94, Y:-27.58, Z:-18.59 [[ 9.63225125e-01 2.53402112e-01 8.93573035e-02 1.56943027e+02] [-2.52565164e-01 9.67357565e-01 -2.07407681e-02 -2.75773578e+01] [-9.16962180e-02 -2.59051300e-03 9.95783658e-01 -1.85863799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.34629675700003 meters 0.06910336878157537 Centerline is valid? [True, True] Translation: X:156.97, Y:-27.58, Z:-18.59 [[ 9.63444216e-01 2.52812420e-01 8.86629748e-02 1.56974230e+02] [-2.51985040e-01 9.67512070e-01 -2.05896349e-02 -2.75841153e+01] [-9.09878138e-02 -2.50477858e-03 9.95848856e-01 -1.85901432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.37629675700003 meters 0.0691051388594232 Centerline is valid? [True, True] Translation: X:157.01, Y:-27.59, Z:-18.59 [[ 9.63562679e-01 2.52437642e-01 8.84432085e-02 1.57005623e+02] [-2.51610806e-01 9.67610083e-01 -2.05603718e-02 -2.75897206e+01] [-9.07687521e-02 -2.44206001e-03 9.95869002e-01 -1.85944829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.40629675700004 meters 0.06902720754122543 Centerline is valid? [True, True] Translation: X:157.04, Y:-27.60, Z:-18.60 [[ 9.63457969e-01 2.52924370e-01 8.81929930e-02 1.57036626e+02] [-2.52102292e-01 9.67482926e-01 -2.05237070e-02 -2.75968342e+01] [-9.05161605e-02 -2.45992663e-03 9.95891949e-01 -1.85969623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.43629675700004 meters 0.06901887525605922 Centerline is valid? [True, True] Translation: X:157.07, Y:-27.60, Z:-18.60 [[ 9.63498394e-01 2.53047038e-01 8.73958902e-02 1.57068206e+02] [-2.52238329e-01 9.67450930e-01 -2.03598557e-02 -2.76032354e+01] [-8.97032364e-02 -2.42790502e-03 9.95965579e-01 -1.86000286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.46629675700004 meters 0.06963113289800466 Centerline is valid? [True, True] Translation: X:157.10, Y:-27.61, Z:-18.60 [[ 9.63151695e-01 2.54272709e-01 8.76595822e-02 1.57098812e+02] [-2.53462110e-01 9.67129257e-01 -2.04440338e-02 -2.76078480e+01] [-8.99765065e-02 -2.52767682e-03 9.95940681e-01 -1.86049303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.496296757 meters 0.0694349564372369 Centerline is valid? [True, True] Translation: X:157.13, Y:-27.62, Z:-18.61 [[ 9.62728301e-01 2.55686232e-01 8.81973286e-02 1.57129811e+02] [-2.54869709e-01 9.66756171e-01 -2.05897471e-02 -2.76155784e+01] [-9.05298265e-02 -2.65649528e-03 9.95890202e-01 -1.86064976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.526296757 meters 0.06985067503635121 Centerline is valid? [True, True] Translation: X:157.16, Y:-27.62, Z:-18.61 [[ 9.62578761e-01 2.56197711e-01 8.83451311e-02 1.57160202e+02] [-2.55378296e-01 9.66620673e-01 -2.06494702e-02 -2.76201071e+01] [-9.06865771e-02 -2.68468764e-03 9.95875864e-01 -1.86108293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.556296757 meters 0.07016796405937048 Centerline is valid? [True, True] Translation: X:157.19, Y:-27.63, Z:-18.61 [[ 9.62135987e-01 2.57836107e-01 8.84018408e-02 1.57191898e+02] [-2.57021593e-01 9.66184521e-01 -2.06730023e-02 -2.76259793e+01] [-9.07427366e-02 -2.83094247e-03 9.95870344e-01 -1.86137950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.586296757 meters 0.07073093062707886 Centerline is valid? [True, True] Translation: X:157.22, Y:-27.63, Z:-18.62 [[ 9.61998584e-01 2.58462592e-01 8.80670912e-02 1.57222462e+02] [-2.57654759e-01 9.66017044e-01 -2.06178637e-02 -2.76308117e+01] [-9.04032575e-02 -2.85654946e-03 9.95901145e-01 -1.86188299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.61629675700001 meters 0.0708445340787234 Centerline is valid? [True, True] Translation: X:157.25, Y:-27.64, Z:-18.62 [[ 9.61780546e-01 2.59281987e-01 8.80399489e-02 1.57253662e+02] [-2.58476195e-01 9.65797271e-01 -2.06322179e-02 -2.76373545e+01] [-9.03783048e-02 -2.91256520e-03 9.95903248e-01 -1.86224898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.64629675700002 meters 0.07095607499374539 Centerline is valid? [True, True] Translation: X:157.28, Y:-27.64, Z:-18.63 [[ 9.61606648e-01 2.59972017e-01 8.79045185e-02 1.57284707e+02] [-2.59169535e-01 9.65611642e-01 -2.06230384e-02 -2.76446472e+01] [-9.02430393e-02 -2.95092241e-03 9.95915401e-01 -1.86257625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.67629675700002 meters 0.07102737491148632 Centerline is valid? [True, True] Translation: X:157.32, Y:-27.65, Z:-18.63 [[ 9.61015497e-01 2.62077516e-01 8.81169140e-02 1.57315828e+02] [-2.61277902e-01 9.65041736e-01 -2.06955422e-02 -2.76509960e+01] [-9.04603359e-02 -3.13426566e-03 9.95895127e-01 -1.86279919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.70629675700002 meters 0.07168083644896357 Centerline is valid? [True, True] Translation: X:157.35, Y:-27.65, Z:-18.63 [[ 9.60675576e-01 2.63140301e-01 8.86545003e-02 1.57346901e+02] [-2.62333225e-01 9.64752166e-01 -2.08455702e-02 -2.76548853e+01] [-9.10149308e-02 -3.23119080e-03 9.95844286e-01 -1.86327411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.73629675700002 meters 0.07240947489643439 Centerline is valid? [True, True] Translation: X:157.38, Y:-27.66, Z:-18.64 [[ 9.59825351e-01 2.66256754e-01 8.85586586e-02 1.57378388e+02] [-2.65462676e-01 9.63895781e-01 -2.08444418e-02 -2.76571176e+01] [-9.09112908e-02 -3.50199481e-03 9.95852837e-01 -1.86366668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76629675700002 meters 0.07285314826662347 Centerline is valid? [True, True] Translation: X:157.41, Y:-27.66, Z:-18.64 [[ 9.59387858e-01 2.67614292e-01 8.92049807e-02 1.57409924e+02] [-2.66812482e-01 9.63519259e-01 -2.10175364e-02 -2.76618395e+01] [-9.15753101e-02 -3.63703308e-03 9.95791512e-01 -1.86406422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79629675700002 meters 0.07324621948330384 Centerline is valid? [True, True] Translation: X:157.44, Y:-27.67, Z:-18.64 [[ 9.58808814e-01 2.69684791e-01 8.91951344e-02 1.57441041e+02] [-2.68889962e-01 9.62941110e-01 -2.10382158e-02 -2.76671524e+01] [-9.15633486e-02 -3.81204957e-03 9.95791957e-01 -1.86440145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82629675700002 meters 0.07288706117839674 Centerline is valid? [True, True] Translation: X:157.47, Y:-27.68, Z:-18.65 [[ 9.58678697e-01 2.70479045e-01 8.81830024e-02 1.57472062e+02] [-2.69703659e-01 9.62718269e-01 -2.08199523e-02 -2.76755239e+01] [-9.05267482e-02 -3.82363365e-03 9.95886684e-01 -1.86473497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85629675700002 meters 0.07374145905594827 Centerline is valid? [True, True] Translation: X:157.50, Y:-27.68, Z:-18.65 [[ 9.58591877e-01 2.71324289e-01 8.65144116e-02 1.57502186e+02] [-2.70579401e-01 9.62480460e-01 -2.04487412e-02 -2.76804126e+01] [-8.88166709e-02 -3.80702042e-03 9.96040715e-01 -1.86533345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.88629675700003 meters 0.07352025844780348 Centerline is valid? [True, True] Translation: X:157.53, Y:-27.69, Z:-18.66 [[ 9.58649663e-01 2.70798124e-01 8.75168502e-02 1.57532795e+02] [-2.70031760e-01 9.62628731e-01 -2.07068611e-02 -2.76883229e+01] [-8.98536136e-02 -3.78170361e-03 9.95947803e-01 -1.86569050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.91629675700003 meters 0.07256680185624746 Centerline is valid? [True, True] Translation: X:157.56, Y:-27.70, Z:-18.66 [[ 9.58569228e-01 2.70567589e-01 8.90966667e-02 1.57564121e+02] [-2.69769871e-01 9.62693469e-01 -2.11068909e-02 -2.76975704e+01] [-9.14836197e-02 -3.80318021e-03 9.95799319e-01 -1.86591204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.94629675700003 meters 0.07315584518762908 Centerline is valid? [True, True] Translation: X:157.60, Y:-27.70, Z:-18.66 [[ 9.58568428e-01 2.70760634e-01 8.85169366e-02 1.57595821e+02] [-2.69973672e-01 9.62639237e-01 -2.09741972e-02 -2.77017610e+01] [-9.08888632e-02 -3.79203913e-03 9.95853822e-01 -1.86642372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.97629675700003 meters 0.07290766438770328 Centerline is valid? [True, True] Translation: X:157.63, Y:-27.71, Z:-18.67 [[ 9.58184048e-01 2.72153916e-01 8.84057451e-02 1.57627239e+02] [-2.71372534e-01 9.62245850e-01 -2.09731138e-02 -2.77082066e+01] [-9.07759764e-02 -3.89478797e-03 9.95863722e-01 -1.86668550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.00629675700003 meters 0.07343212148842716 Centerline is valid? [True, True] Translation: X:157.66, Y:-27.71, Z:-18.67 [[ 9.58083217e-01 2.72456970e-01 8.85649348e-02 1.57658159e+02] [-2.71671970e-01 9.62160030e-01 -2.10337370e-02 -2.77128007e+01] [-9.09444285e-02 -3.90853990e-03 9.95848299e-01 -1.86713222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.03629675700003 meters 0.07376074100636461 Centerline is valid? [True, True] Translation: X:157.69, Y:-27.72, Z:-18.68 [[ 9.58004039e-01 2.73069072e-01 8.75302415e-02 1.57688343e+02] [-2.72302624e-01 9.61986540e-01 -2.08129017e-02 -2.77179063e+01] [-8.98862740e-02 -3.89587055e-03 9.95944416e-01 -1.86757479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.06629675700003 meters 0.0726981497735078 Centerline is valid? [True, True] Translation: X:157.72, Y:-27.73, Z:-18.68 [[ 9.58047558e-01 2.73240250e-01 8.65138261e-02 1.57718528e+02] [-2.72490501e-01 9.61938128e-01 -2.05904134e-02 -2.77278466e+01] [-8.88470776e-02 -3.84760055e-03 9.96037847e-01 -1.86789718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.09629675700003 meters 0.07287440475839073 Centerline is valid? [True, True] Translation: X:157.75, Y:-27.73, Z:-18.68 [[ 9.58130186e-01 2.73682822e-01 8.41680433e-02 1.57750186e+02] [-2.72973058e-01 9.61812644e-01 -2.00535947e-02 -2.77334904e+01] [-8.64422127e-02 -3.76165373e-03 9.96249765e-01 -1.86835664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.12629675700003 meters 0.0729408992819 Centerline is valid? [True, True] Translation: X:157.78, Y:-27.74, Z:-18.69 [[ 9.58087715e-01 2.73764709e-01 8.43849168e-02 1.57780905e+02] [-2.73049430e-01 9.61789367e-01 -2.01301516e-02 -2.77393047e+01] [-8.66714408e-02 -3.75480246e-03 9.96229874e-01 -1.86876227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.15629675700004 meters 0.07283993148168252 Centerline is valid? [True, True] Translation: X:157.81, Y:-27.75, Z:-18.69 [[ 9.58324272e-01 2.73414738e-01 8.28189079e-02 1.57812253e+02] [-2.72723719e-01 9.61889337e-01 -1.97655582e-02 -2.77467199e+01] [-8.50668193e-02 -3.64486637e-03 9.96368582e-01 -1.86917738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.18629675700004 meters 0.07307396167464955 Centerline is valid? [True, True] Translation: X:157.84, Y:-27.75, Z:-18.70 [[ 9.58523226e-01 2.72853384e-01 8.23665960e-02 1.57842612e+02] [-2.72165794e-01 9.62049070e-01 -1.96816416e-02 -2.77530830e+01] [-8.46109096e-02 -3.55205936e-03 9.96407736e-01 -1.86971104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.21629675700004 meters 0.07303246313990887 Centerline is valid? [True, True] Translation: X:157.87, Y:-27.76, Z:-18.70 [[ 9.59454110e-01 2.69988722e-01 8.09561597e-02 1.57872674e+02] [-2.69313156e-01 9.62858071e-01 -1.93587013e-02 -2.77617426e+01] [-8.31759228e-02 -3.22877329e-03 9.96529649e-01 -1.87010144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.246296757 meters 0.07274634504818717 Centerline is valid? [True, True] Translation: X:157.90, Y:-27.77, Z:-18.70 [[ 9.59681281e-01 2.69441666e-01 8.00813740e-02 1.57904594e+02] [-2.68778930e-01 9.63011564e-01 -1.91471787e-02 -2.77714194e+01] [-8.22783369e-02 -3.14899701e-03 9.96604415e-01 -1.87036280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.276296757 meters 0.07245501873721233 Centerline is valid? [True, True] Translation: X:157.93, Y:-27.78, Z:-18.71 [[ 9.60704048e-01 2.66161744e-01 7.87759997e-02 1.57933708e+02] [-2.65507384e-01 9.63924327e-01 -1.88605901e-02 -2.77830102e+01] [-8.09540700e-02 -2.79616432e-03 9.96713911e-01 -1.87080660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.306296757 meters 0.07178891055356076 Centerline is valid? [True, True] Translation: X:157.96, Y:-27.79, Z:-18.71 [[ 9.61092695e-01 2.64972109e-01 7.80423779e-02 1.57963431e+02] [-2.64325019e-01 9.64252410e-01 -1.86968893e-02 -2.77948759e+01] [-8.02067052e-02 -2.65910927e-03 9.96774706e-01 -1.87095352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.336296757 meters 0.0719118080877057 Centerline is valid? [True, True] Translation: X:157.99, Y:-27.80, Z:-18.71 [[ 9.62026662e-01 2.61884130e-01 7.69506589e-02 1.57993219e+02] [-2.61243626e-01 9.65096464e-01 -1.84548744e-02 -2.78045208e+01] [-7.90978475e-02 -2.34878792e-03 9.96864090e-01 -1.87143872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.36629675700001 meters 0.07130996236637367 Centerline is valid? [True, True] Translation: X:158.02, Y:-27.82, Z:-18.72 [[ 9.62551427e-01 2.60227517e-01 7.60025593e-02 1.58023913e+02] [-2.59596073e-01 9.65544895e-01 -1.82464892e-02 -2.78156934e+01] [-7.81321218e-02 -2.16678174e-03 9.96940659e-01 -1.87166560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.39629675700002 meters 0.07096025757778206 Centerline is valid? [True, True] Translation: X:158.05, Y:-27.83, Z:-18.72 [[ 9.63422350e-01 2.57101039e-01 7.56070780e-02 1.58054095e+02] [-2.56464756e-01 9.66382697e-01 -1.81744537e-02 -2.78285423e+01] [-7.77380429e-02 -1.88087598e-03 9.96972045e-01 -1.87200140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.42629675700002 meters 0.07087846695105121 Centerline is valid? [True, True] Translation: X:158.08, Y:-27.84, Z:-18.72 [[ 9.63689037e-01 2.55847550e-01 7.64556753e-02 1.58083925e+02] [-2.55192329e-01 9.66715480e-01 -1.83863057e-02 -2.78379580e+01] [-7.86149761e-02 -1.79222064e-03 9.96903442e-01 -1.87234252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.45629675700002 meters 0.0703336430442896 Centerline is valid? [True, True] Translation: X:158.11, Y:-27.85, Z:-18.73 [[ 9.64551721e-01 2.51753500e-01 7.91211316e-02 1.58113597e+02] [-2.51035925e-01 9.67790251e-01 -1.90524192e-02 -2.78508904e+01] [-8.13691730e-02 -1.48520277e-03 9.96682924e-01 -1.87252889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48629675700002 meters 0.07022124791618983 Centerline is valid? [True, True] Translation: X:158.14, Y:-27.86, Z:-18.73 [[ 9.64954458e-01 2.49834591e-01 8.02843132e-02 1.58143020e+02] [-2.49089193e-01 9.68287597e-01 -1.93314007e-02 -2.78603301e+01] [-8.25679573e-02 -1.34403349e-03 9.96584530e-01 -1.87304158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51629675700002 meters 0.0698090960627517 Centerline is valid? [True, True] Translation: X:158.17, Y:-27.87, Z:-18.73 [[ 9.65705909e-01 2.46647897e-01 8.10981694e-02 1.58172458e+02] [-2.45874527e-01 9.69104577e-01 -1.95457274e-02 -2.78742584e+01] [-8.34135197e-02 -1.06454954e-03 9.96514451e-01 -1.87311642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54629675700002 meters 0.06981604590703458 Centerline is valid? [True, True] Translation: X:158.20, Y:-27.88, Z:-18.74 [[ 9.65887720e-01 2.45779482e-01 8.15681173e-02 1.58201901e+02] [-2.44992134e-01 9.69325280e-01 -1.96813638e-02 -2.78824621e+01] [-8.39033135e-02 -9.73559505e-04 9.96473425e-01 -1.87353376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57629675700002 meters 0.06989384274828167 Centerline is valid? [True, True] Translation: X:158.23, Y:-27.89, Z:-18.74 [[ 9.66250362e-01 2.44770172e-01 8.02982045e-02 1.58232267e+02] [-2.44002159e-01 9.69580752e-01 -1.93936242e-02 -2.78927997e+01] [-8.26025742e-02 -8.53838837e-04 9.96582202e-01 -1.87402849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60629675700002 meters 0.06989384274828167 Centerline is valid? [True, True] Translation: X:158.26, Y:-27.90, Z:-18.74 [[ 9.66182561e-01 2.45039131e-01 8.02937339e-02 1.58263543e+02] [-2.44270508e-01 9.69512810e-01 -1.94121130e-02 -2.79004383e+01] [-8.26025309e-02 -8.57746124e-04 9.96582202e-01 -1.87438998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.63629675700003 meters 0.06997514698835337 Centerline is valid? [True, True] Translation: X:158.29, Y:-27.91, Z:-18.75 [[ 9.66169959e-01 2.45162160e-01 8.00695022e-02 1.58293755e+02] [-2.44396267e-01 9.69481720e-01 -1.93819337e-02 -2.79096713e+01] [-8.23776354e-02 -8.42445352e-04 9.96600831e-01 -1.87490270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.66629675700003 meters 0.06995791968942225 Centerline is valid? [True, True] Translation: X:158.33, Y:-27.92, Z:-18.75 [[ 9.66174888e-01 2.45232264e-01 7.97948778e-02 1.58325567e+02] [-2.44470106e-01 9.69464005e-01 -1.93367781e-02 -2.79176461e+01] [-8.21002637e-02 -8.24752788e-04 9.96623734e-01 -1.87532893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.69629675700003 meters 0.0700393976879335 Centerline is valid? [True, True] Translation: X:158.36, Y:-27.92, Z:-18.76 [[ 9.66161403e-01 2.45164307e-01 8.01661117e-02 1.58355195e+02] [-2.44392777e-01 9.69481214e-01 -1.94511207e-02 -2.79248260e+01] [-8.24882598e-02 -7.99096588e-04 9.96591716e-01 -1.87581322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.72629675700003 meters 0.07016222355816919 Centerline is valid? [True, True] Translation: X:158.39, Y:-27.93, Z:-18.76 [[ 9.66066800e-01 2.45612441e-01 7.99341426e-02 1.58386425e+02] [-2.44845360e-01 9.69367764e-01 -1.94135992e-02 -2.79336197e+01] [-8.22538026e-02 -8.16670356e-04 9.96611080e-01 -1.87615447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.75629675700003 meters 0.07020056230921191 Centerline is valid? [True, True] Translation: X:158.42, Y:-27.94, Z:-18.76 [[ 9.66160996e-01 2.45549122e-01 7.89845513e-02 1.58417001e+02] [-2.44798038e-01 9.69383837e-01 -1.92067169e-02 -2.79418753e+01] [-8.12825398e-02 -7.78482434e-04 9.96690796e-01 -1.87646191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.78629675700003 meters 0.06986179147643198 Centerline is valid? [True, True] Translation: X:158.45, Y:-27.95, Z:-18.77 [[ 9.65933292e-01 2.45928139e-01 8.05743485e-02 1.58447516e+02] [-2.45146036e-01 9.69287728e-01 -1.96142958e-02 -2.79508749e+01] [-8.29234345e-02 -8.06380843e-04 9.96555595e-01 -1.87676425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.81629675700003 meters 0.06977930958036377 Centerline is valid? [True, True] Translation: X:158.48, Y:-27.96, Z:-18.77 [[ 9.65762588e-01 2.46467723e-01 8.09708906e-02 1.58478351e+02] [-2.45678056e-01 9.69150639e-01 -1.97314802e-02 -2.79582319e+01] [-8.33361634e-02 -8.36845625e-04 9.96521141e-01 -1.87710728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.84629675700003 meters 0.06964676937072851 Centerline is valid? [True, True] Translation: X:158.51, Y:-27.96, Z:-18.78 [[ 9.65143371e-01 2.48802053e-01 8.12146104e-02 1.58509247e+02] [-2.48013903e-01 9.68553819e-01 -1.98142200e-02 -2.79636618e+01] [-8.35905396e-02 -1.01878939e-03 9.96499666e-01 -1.87753737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.87629675700003 meters 0.06978048833119065 Centerline is valid? [True, True] Translation: X:158.54, Y:-27.97, Z:-18.78 [[ 9.64145476e-01 2.52809434e-01 8.06900952e-02 1.58540925e+02] [-2.52044366e-01 9.67515158e-01 -1.96991259e-02 -2.79674541e+01] [-8.30490152e-02 -1.34466084e-03 9.96544556e-01 -1.87820519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.90629675700004 meters 0.07003144782312007 Centerline is valid? [True, True] Translation: X:158.57, Y:-27.97, Z:-18.79 [[ 9.63707503e-01 2.54869065e-01 7.94330429e-02 1.58572479e+02] [-2.54134202e-01 9.66974421e-01 -1.93978356e-02 -2.79731215e+01] [-8.17536289e-02 -1.49281328e-03 9.96651451e-01 -1.87868910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.93629675700004 meters 0.07024215142029198 Centerline is valid? [True, True] Translation: X:158.60, Y:-27.98, Z:-18.79 [[ 9.62988844e-01 2.57729606e-01 7.89172778e-02 1.58603572e+02] [-2.57013809e-01 9.66215545e-01 -1.92723409e-02 -2.79790998e+01] [-8.12181533e-02 -1.72378089e-03 9.96694858e-01 -1.87901505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.96629675700004 meters 0.07089635458417325 Centerline is valid? [True, True] Translation: X:158.63, Y:-27.98, Z:-18.79 [[ 9.61874298e-01 2.61874801e-01 7.88633228e-02 1.58634379e+02] [-2.61172193e-01 9.65099672e-01 -1.92797490e-02 -2.79833619e+01] [-8.11598474e-02 -2.05221192e-03 9.96698985e-01 -1.87941884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.996296757 meters 0.07117401912646379 Centerline is valid? [True, True] Translation: X:158.67, Y:-27.99, Z:-18.80 [[ 9.61258431e-01 2.64202519e-01 7.86082580e-02 1.58665626e+02] [-2.63510786e-01 9.64464660e-01 -1.92349781e-02 -2.79894607e+01] [-8.08968165e-02 -2.22433904e-03 9.96719999e-01 -1.87985846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.026296757 meters 0.0712151907786019 Centerline is valid? [True, True] Translation: X:158.70, Y:-28.00, Z:-18.80 [[ 9.61093111e-01 2.64737571e-01 7.88292453e-02 1.58697817e+02] [-2.64042221e-01 9.64317853e-01 -1.93076321e-02 -2.79968357e+01] [-8.11279041e-02 -2.25781681e-03 9.96701141e-01 -1.88029372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.056296757 meters 0.07155797279106277 Centerline is valid? [True, True] Translation: X:158.73, Y:-28.00, Z:-18.81 [[ 9.61015880e-01 2.65089578e-01 7.85874977e-02 1.58728386e+02] [-2.64397818e-01 9.64221144e-01 -1.92711891e-02 -2.80036987e+01] [-8.08843184e-02 -2.25844416e-03 9.96720937e-01 -1.88077352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.086296757 meters 0.07113859057760379 Centerline is valid? [True, True] Translation: X:158.76, Y:-28.01, Z:-18.81 [[ 9.61004849e-01 2.65322200e-01 7.79346501e-02 1.58758827e+02] [-2.64640994e-01 9.64157206e-01 -1.91318224e-02 -2.80138057e+01] [-8.02173517e-02 -2.23892919e-03 9.96774881e-01 -1.88092289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.11629675700001 meters 0.07107742945830713 Centerline is valid? [True, True] Translation: X:158.79, Y:-28.02, Z:-18.81 [[ 9.61042720e-01 2.64924910e-01 7.88142221e-02 1.58788750e+02] [-2.64225208e-01 9.64266511e-01 -1.93684094e-02 -2.80217132e+01] [-8.11290891e-02 -2.21083534e-03 9.96701150e-01 -1.88129643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.14629675700002 meters 0.07060780585204089 Centerline is valid? [True, True] Translation: X:158.82, Y:-28.03, Z:-18.81 [[ 9.61251137e-01 2.64004497e-01 7.93591715e-02 1.58819170e+02] [-2.63290477e-01 9.64519096e-01 -1.95202212e-02 -2.80324372e+01] [-8.16968625e-02 -2.13067924e-03 9.96654947e-01 -1.88143781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.17629675700002 meters 0.07041102418602155 Centerline is valid? [True, True] Translation: X:158.85, Y:-28.04, Z:-18.82 [[ 9.61417483e-01 2.63566593e-01 7.87976840e-02 1.58850703e+02] [-2.62859673e-01 9.64639003e-01 -1.94006975e-02 -2.80424265e+01] [-8.11246950e-02 -2.06056367e-03 9.96701830e-01 -1.88173144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.20629675700002 meters 0.07068858663797435 Centerline is valid? [True, True] Translation: X:158.88, Y:-28.05, Z:-18.82 [[ 9.61827444e-01 2.61787306e-01 7.97205996e-02 1.58880198e+02] [-2.61055279e-01 9.65123710e-01 -1.96562009e-02 -2.80500120e+01] [-8.20859847e-02 -1.90560988e-03 9.96623429e-01 -1.88223021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.23629675700002 meters 0.07021467733719758 Centerline is valid? [True, True] Translation: X:158.91, Y:-28.06, Z:-18.82 [[ 9.62252005e-01 2.60099001e-01 8.01223391e-02 1.58910925e+02] [-2.59352997e-01 9.65580346e-01 -1.97640524e-02 -2.80604726e+01] [-8.25051662e-02 -1.76196976e-03 9.96589079e-01 -1.88244513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26629675700002 meters 0.07032035303873208 Centerline is valid? [True, True] Translation: X:158.94, Y:-28.07, Z:-18.83 [[ 9.62515047e-01 2.58734026e-01 8.13725301e-02 1.58940960e+02] [-2.57957842e-01 9.65947194e-01 -2.00940329e-02 -2.80688155e+01] [-8.38005771e-02 -1.64987321e-03 9.96481180e-01 -1.88288422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29629675700002 meters 0.06989629771519665 Centerline is valid? [True, True] Translation: X:158.97, Y:-28.08, Z:-18.83 [[ 9.62523899e-01 2.58609582e-01 8.16628903e-02 1.58971947e+02] [-2.57825612e-01 9.65980562e-01 -2.01868369e-02 -2.80788294e+01] [-8.41052741e-02 -1.62447169e-03 9.96455550e-01 -1.88295947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32629675700002 meters 0.06992114386098064 Centerline is valid? [True, True] Translation: X:159.00, Y:-28.09, Z:-18.83 [[ 9.62513409e-01 2.58318809e-01 8.27002398e-02 1.59002968e+02] [-2.57511854e-01 9.66058403e-01 -2.04647937e-02 -2.80863616e+01] [-8.51797027e-02 -1.59865366e-03 9.96364322e-01 -1.88317799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35629675700002 meters 0.06997050693264294 Centerline is valid? [True, True] Translation: X:159.03, Y:-28.09, Z:-18.84 [[ 9.62470199e-01 2.58372270e-01 8.30354497e-02 1.59033453e+02] [-2.57557087e-01 9.66044122e-01 -2.05694257e-02 -2.80923050e+01] [-8.55304773e-02 -1.58890931e-03 9.96334288e-01 -1.88358962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.38629675700003 meters 0.06975018118731725 Centerline is valid? [True, True] Translation: X:159.07, Y:-28.10, Z:-18.84 [[ 9.62127203e-01 2.59499188e-01 8.34950056e-02 1.59065702e+02] [-2.58677613e-01 9.65741863e-01 -2.07013772e-02 -2.80996523e+01] [-8.60066128e-02 -1.68093056e-03 9.96293148e-01 -1.88377912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.41629675700003 meters 0.07021055964068748 Centerline is valid? [True, True] Translation: X:159.10, Y:-28.10, Z:-18.84 [[ 9.61264526e-01 2.62940461e-01 8.26609073e-02 1.59096230e+02] [-2.62145521e-01 9.64810108e-01 -2.05226933e-02 -2.81026229e+01] [-8.51483253e-02 -1.94144956e-03 9.96366395e-01 -1.88432052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.44629675700003 meters 0.07040546919413572 Centerline is valid? [True, True] Translation: X:159.13, Y:-28.11, Z:-18.85 [[ 9.60737594e-01 2.65022670e-01 8.21356188e-02 1.59127731e+02] [-2.64244639e-01 9.64239887e-01 -2.04012612e-02 -2.81080535e+01] [-8.46052365e-02 -2.10363837e-03 9.96412329e-01 -1.88479430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.47629675700003 meters 0.07073978336934644 Centerline is valid? [True, True] Translation: X:159.16, Y:-28.11, Z:-18.85 [[ 9.60247405e-01 2.67037233e-01 8.13390233e-02 1.59158032e+02] [-2.66279415e-01 9.63683620e-01 -2.02275675e-02 -2.81121923e+01] [-8.37865981e-02 -2.23543832e-03 9.96481213e-01 -1.88526582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.50629675700003 meters 0.07170187639767672 Centerline is valid? [True, True] Translation: X:159.19, Y:-28.11, Z:-18.86 [[ 9.59109139e-01 2.71498625e-01 7.99884754e-02 1.59189441e+02] [-2.70780398e-01 9.62435393e-01 -1.99020114e-02 -2.81134603e+01] [-8.23871085e-02 -2.57111022e-03 9.96597087e-01 -1.88578197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.53629675700003 meters 0.07231720806891173 Centerline is valid? [True, True] Translation: X:159.22, Y:-28.12, Z:-18.86 [[ 9.58599066e-01 2.73524529e-01 7.91969854e-02 1.59220982e+02] [-2.72826864e-01 9.61861205e-01 -1.97110480e-02 -2.81187710e+01] [-8.15679628e-02 -2.71207296e-03 9.96664092e-01 -1.88629957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.56629675700003 meters 0.07290417730528469 Centerline is valid? [True, True] Translation: X:159.25, Y:-28.12, Z:-18.87 [[ 9.58313634e-01 2.75030476e-01 7.74158608e-02 1.59250762e+02] [-2.74368315e-01 9.61431517e-01 -1.92734429e-02 -2.81243860e+01] [-7.97308327e-02 -2.77045621e-03 9.96812580e-01 -1.88671654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.59629675700003 meters 0.07227217181141711 Centerline is valid? [True, True] Translation: X:159.28, Y:-28.13, Z:-18.87 [[ 9.58405061e-01 2.74749998e-01 7.72798671e-02 1.59281018e+02] [-2.74088785e-01 9.61511804e-01 -1.92454733e-02 -2.81346115e+01] [-7.95931982e-02 -2.73658588e-03 9.96823672e-01 -1.88686237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.62629675700003 meters 0.07237690349852521 Centerline is valid? [True, True] Translation: X:159.31, Y:-28.14, Z:-18.87 [[ 9.58466747e-01 2.74706123e-01 7.66683812e-02 1.59312191e+02] [-2.74053764e-01 9.61524462e-01 -1.91113635e-02 -2.81431418e+01] [-7.89685326e-02 -2.69365205e-03 9.96873470e-01 -1.88721719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.65629675700004 meters 0.07237322082359511 Centerline is valid? [True, True] Translation: X:159.34, Y:-28.15, Z:-18.88 [[ 9.58795320e-01 2.73610401e-01 7.64779936e-02 1.59342388e+02] [-2.72955967e-01 9.61837159e-01 -1.90871621e-02 -2.81517683e+01] [-7.87818222e-02 -2.57444299e-03 9.96888558e-01 -1.88758901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.68629675700004 meters 0.07233715745962217 Centerline is valid? [True, True] Translation: X:159.37, Y:-28.16, Z:-18.88 [[ 9.59014034e-01 2.72604936e-01 7.73216091e-02 1.59373141e+02] [-2.71931127e-01 9.62122808e-01 -1.93174850e-02 -2.81603511e+01] [-7.96589254e-02 -2.50041315e-03 9.96819043e-01 -1.88788980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.71629675700004 meters 0.07131976238366665 Centerline is valid? [True, True] Translation: X:159.40, Y:-28.17, Z:-18.88 [[ 9.59114477e-01 2.71980721e-01 7.82681799e-02 1.59403274e+02] [-2.71286631e-01 9.62299557e-01 -1.95736286e-02 -2.81735420e+01] [-8.06410844e-02 -2.45976029e-03 9.96740169e-01 -1.88788608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.746296757 meters 0.07133905925966785 Centerline is valid? [True, True] Translation: X:159.43, Y:-28.18, Z:-18.88 [[ 9.59363037e-01 2.71089833e-01 7.83126176e-02 1.59433106e+02] [-2.70390268e-01 9.62551145e-01 -1.96060414e-02 -2.81806901e+01] [-8.06948982e-02 -2.36565820e-03 9.96736042e-01 -1.88830719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.776296757 meters 0.07109964448564982 Centerline is valid? [True, True] Translation: X:159.46, Y:-28.19, Z:-18.89 [[ 9.59358786e-01 2.70986673e-01 7.87206599e-02 1.59463398e+02] [-2.70277923e-01 9.62580228e-01 -1.97268740e-02 -2.81901266e+01] [-8.11206706e-02 -2.35130660e-03 9.96701514e-01 -1.88853435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.806296757 meters 0.07083420705437193 Centerline is valid? [True, True] Translation: X:159.49, Y:-28.20, Z:-18.89 [[ 9.59466132e-01 2.70338491e-01 7.96356860e-02 1.59493931e+02] [-2.69609210e-01 9.62762585e-01 -1.99769649e-02 -2.81999130e+01] [-8.20708014e-02 -2.30329313e-03 9.96623840e-01 -1.88880259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.836296757 meters 0.071100910334259 Centerline is valid? [True, True] Translation: X:159.52, Y:-28.21, Z:-18.89 [[ 9.59081308e-01 2.71353247e-01 8.08112654e-02 1.59523709e+02] [-2.70603998e-01 9.62476823e-01 -2.02938968e-02 -2.82068836e+01] [-8.32857848e-02 -2.40435438e-03 9.96522803e-01 -1.88919472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.86629675700001 meters 0.07141774281342722 Centerline is valid? [True, True] Translation: X:159.55, Y:-28.21, Z:-18.90 [[ 9.58624162e-01 2.72945985e-01 8.08715343e-02 1.59553501e+02] [-2.72199371e-01 9.62026052e-01 -2.03316923e-02 -2.82133755e+01] [-8.33499766e-02 -2.52272921e-03 9.96517143e-01 -1.88956344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.89629675700002 meters 0.07159390232131656 Centerline is valid? [True, True] Translation: X:159.58, Y:-28.22, Z:-18.90 [[ 9.57842492e-01 2.75658275e-01 8.09337798e-02 1.59584731e+02] [-2.74919206e-01 9.61251764e-01 -2.03586859e-02 -2.82211017e+01] [-8.34097789e-02 -2.74983607e-03 9.96511539e-01 -1.88975252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.92629675700002 meters 0.07212182765441434 Centerline is valid? [True, True] Translation: X:159.62, Y:-28.23, Z:-18.90 [[ 9.57124348e-01 2.78099868e-01 8.10767949e-02 1.59615911e+02] [-2.77366403e-01 9.60547599e-01 -2.04006857e-02 -2.82271574e+01] [-8.35515487e-02 -2.96198599e-03 9.96499054e-01 -1.89012172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.95629675700002 meters 0.0731965245767726 Centerline is valid? [True, True] Translation: X:159.65, Y:-28.23, Z:-18.91 [[ 9.56035495e-01 2.82584641e-01 7.83712464e-02 1.59646926e+02] [-2.81914272e-01 9.59236896e-01 -1.97210506e-02 -2.82299468e+01] [-8.07494571e-02 -3.23994852e-03 9.96729165e-01 -1.89063015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98629675700002 meters 0.0743443972783265 Centerline is valid? [True, True] Translation: X:159.68, Y:-28.23, Z:-18.91 [[ 9.55387125e-01 2.84942506e-01 7.77380776e-02 1.59677780e+02] [-2.84289353e-01 9.58538597e-01 -1.95785964e-02 -2.82338601e+01] [-8.00937221e-02 -3.39496885e-03 9.96781556e-01 -1.89111518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01629675700002 meters 0.07493813035767774 Centerline is valid? [True, True] Translation: X:159.71, Y:-28.24, Z:-18.92 [[ 9.54737148e-01 2.87391862e-01 7.67000374e-02 1.59708733e+02] [-2.86762055e-01 9.57806589e-01 -1.93407013e-02 -2.82404139e+01] [-7.90221613e-02 -3.52937438e-03 9.96866612e-01 -1.89152362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04629675700002 meters 0.07500428429696736 Centerline is valid? [True, True] Translation: X:159.74, Y:-28.25, Z:-18.92 [[ 9.54542697e-01 2.88067981e-01 7.65837939e-02 1.59739650e+02] [-2.87442378e-01 9.57603264e-01 -1.93097856e-02 -2.82488394e+01] [-7.88994220e-02 -3.58141298e-03 9.96876148e-01 -1.89188807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07629675700002 meters 0.07521000351691794 Centerline is valid? [True, True] Translation: X:159.77, Y:-28.26, Z:-18.92 [[ 9.54579693e-01 2.88345443e-01 7.50634134e-02 1.59769788e+02] [-2.87743797e-01 9.57520005e-01 -1.89459152e-02 -2.82569893e+01] [-7.73376882e-02 -3.51364566e-03 9.96998764e-01 -1.89235560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10629675700002 meters 0.0753759425642489 Centerline is valid? [True, True] Translation: X:159.80, Y:-28.26, Z:-18.93 [[ 9.54592458e-01 2.88121397e-01 7.57581656e-02 1.59800765e+02] [-2.87506458e-01 9.57587455e-01 -1.91390471e-02 -2.82646926e+01] [-7.80594379e-02 -3.51097183e-03 9.96942525e-01 -1.89280455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.13629675700003 meters 0.07389213609322842 Centerline is valid? [True, True] Translation: X:159.83, Y:-28.28, Z:-18.93 [[ 9.54909139e-01 2.86779468e-01 7.68509819e-02 1.59830269e+02] [-2.86140234e-01 9.57990502e-01 -1.94412905e-02 -2.82777482e+01] [-7.91978737e-02 -3.42549203e-03 9.96853030e-01 -1.89289324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.16629675700003 meters 0.07432616383533631 Centerline is valid? [True, True] Translation: X:159.86, Y:-28.28, Z:-18.93 [[ 9.54991482e-01 2.86305898e-01 7.75899558e-02 1.59860841e+02] [-2.85652880e-01 9.58132158e-01 -1.96265220e-02 -2.82842231e+01] [-7.99606208e-02 -3.42063293e-03 9.96792154e-01 -1.89339532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.19629675700003 meters 0.07484474940376167 Centerline is valid? [True, True] Translation: X:159.89, Y:-28.29, Z:-18.94 [[ 9.55265350e-01 2.84689211e-01 8.01259302e-02 1.59890273e+02] [-2.83984897e-01 9.58613953e-01 -2.02945363e-02 -2.82911669e+01] [-8.25874702e-02 -3.36788672e-03 9.96578129e-01 -1.89386988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.22629675700003 meters 0.07313563723520064 Centerline is valid? [True, True] Translation: X:159.92, Y:-28.31, Z:-18.94 [[ 9.55302630e-01 2.84279702e-01 8.11291292e-02 1.59920455e+02] [-2.83555557e-01 9.58735474e-01 -2.05556879e-02 -2.83056376e+01] [-8.36249389e-02 -3.36771274e-03 9.96491610e-01 -1.89379787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.25629675700003 meters 0.07332761164359927 Centerline is valid? [True, True] Translation: X:159.95, Y:-28.31, Z:-18.94 [[ 9.55223046e-01 2.84243081e-01 8.21876155e-02 1.59950232e+02] [-2.83498747e-01 9.58746228e-01 -2.08358055e-02 -2.83135184e+01] [-8.47194999e-02 -3.39724437e-03 9.96399049e-01 -1.89417318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.28629675700003 meters 0.07354374204924558 Centerline is valid? [True, True] Translation: X:159.98, Y:-28.32, Z:-18.95 [[ 9.55218099e-01 2.84311123e-01 8.20095599e-02 1.59980628e+02] [-2.83569498e-01 9.58726088e-01 -2.07996915e-02 -2.83209220e+01] [-8.45382883e-02 -3.38716800e-03 9.96414474e-01 -1.89464204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.31629675700003 meters 0.0736669942972512 Centerline is valid? [True, True] Translation: X:160.01, Y:-28.33, Z:-18.95 [[ 9.55000094e-01 2.85016692e-01 8.20993643e-02 1.60010969e+02] [-2.84274052e-01 9.58516413e-01 -2.08458462e-02 -2.83291920e+01] [-8.46350023e-02 -3.43093395e-03 9.96406115e-01 -1.89513409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.34629675700003 meters 0.0737016386782044 Centerline is valid? [True, True] Translation: X:160.04, Y:-28.34, Z:-18.95 [[ 9.54916955e-01 2.85202504e-01 8.24205104e-02 1.60041791e+02] [-2.84452868e-01 9.58461109e-01 -2.09491710e-02 -2.83374709e+01] [-8.49716098e-02 -3.44003197e-03 9.96377434e-01 -1.89549216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.37629675700003 meters 0.07279271180719185 Centerline is valid? [True, True] Translation: X:160.07, Y:-28.35, Z:-18.96 [[ 9.55091969e-01 2.84314929e-01 8.34526965e-02 1.60071472e+02] [-2.83541083e-01 9.58724978e-01 -2.12337385e-02 -2.83501226e+01] [-8.60452535e-02 -3.38209482e-03 9.96285489e-01 -1.89567961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.40629675700004 meters 0.07272051632935927 Centerline is valid? [True, True] Translation: X:160.10, Y:-28.36, Z:-18.96 [[ 9.55079899e-01 2.84095673e-01 8.43328807e-02 1.60101817e+02] [-2.83302528e-01 9.58789994e-01 -2.14808126e-02 -2.83585260e+01] [-8.69601281e-02 -3.37582596e-03 9.96206073e-01 -1.89607712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.43629675700004 meters 0.07215650572123698 Centerline is valid? [True, True] Translation: X:160.13, Y:-28.37, Z:-18.96 [[ 9.55734144e-01 2.82052647e-01 8.37767829e-02 1.60131532e+02] [-2.81260197e-01 9.59393766e-01 -2.13612620e-02 -2.83695381e+01] [-8.63999238e-02 -3.14738696e-03 9.96255563e-01 -1.89644673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.46629675700004 meters 0.07221977316601155 Centerline is valid? [True, True] Translation: X:160.16, Y:-28.38, Z:-18.97 [[ 9.55958617e-01 2.81327146e-01 8.36549977e-02 1.60162775e+02] [-2.80532016e-01 9.59607064e-01 -2.13557977e-02 -2.83778186e+01] [-8.62838924e-02 -3.05264630e-03 9.96265914e-01 -1.89688237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.49629675700004 meters 0.07208147165293273 Centerline is valid? [True, True] Translation: X:160.19, Y:-28.39, Z:-18.97 [[ 9.56582349e-01 2.79365631e-01 8.30966500e-02 1.60191795e+02] [-2.78572901e-01 9.60180575e-01 -2.12226675e-02 -2.83874998e+01] [-8.57166731e-02 -2.84724567e-03 9.96315485e-01 -1.89736835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.526296757 meters 0.07208147165293273 Centerline is valid? [True, True] Translation: X:160.22, Y:-28.40, Z:-18.98 [[ 9.56502931e-01 2.79638800e-01 8.30920269e-02 1.60222975e+02] [-2.78845528e-01 9.60101037e-01 -2.12407505e-02 -2.83955610e+01] [-8.57164792e-02 -2.85299996e-03 9.96315485e-01 -1.89772989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.556296757 meters 0.07199912316193026 Centerline is valid? [True, True] Translation: X:160.25, Y:-28.40, Z:-18.98 [[ 9.56609324e-01 2.78949637e-01 8.41766096e-02 1.60253311e+02] [-2.78130484e-01 9.60301645e-01 -2.15449475e-02 -2.84048134e+01] [-8.68448920e-02 -2.80198350e-03 9.96217905e-01 -1.89812762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.586296757 meters 0.0720724094853022 Centerline is valid? [True, True] Translation: X:160.28, Y:-28.42, Z:-18.98 [[ 9.56876581e-01 2.78160551e-01 8.37491266e-02 1.60283922e+02] [-2.77344784e-01 9.60530814e-01 -2.14575552e-02 -2.84156583e+01] [-8.64122621e-02 -2.69515141e-03 9.96255819e-01 -1.89844383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.61629675700001 meters 0.07223385178920132 Centerline is valid? [True, True] Translation: X:160.31, Y:-28.43, Z:-18.99 [[ 9.57315703e-01 2.77144975e-01 8.20810981e-02 1.60313946e+02] [-2.76355767e-01 9.60824784e-01 -2.10529017e-02 -2.84254455e+01] [-8.47002592e-02 -2.52931141e-03 9.96403266e-01 -1.89882914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.64629675700002 meters 0.07251818086222592 Centerline is valid? [True, True] Translation: X:160.34, Y:-28.43, Z:-18.99 [[ 9.57202042e-01 2.77743673e-01 8.13799901e-02 1.60344521e+02] [-2.76968959e-01 9.60651843e-01 -2.08861959e-02 -2.84338322e+01] [-8.39788462e-02 -2.54742170e-03 9.96464281e-01 -1.89919151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.67629675700002 meters 0.07262001003319699 Centerline is valid? [True, True] Translation: X:160.37, Y:-28.44, Z:-19.00 [[ 9.57107696e-01 2.77964300e-01 8.17355927e-02 1.60374065e+02] [-2.77181760e-01 9.60588002e-01 -2.09991217e-02 -2.84415999e+01] [-8.43512358e-02 -2.55719449e-03 9.96432802e-01 -1.89956739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.70629675700002 meters 0.07258048086240598 Centerline is valid? [True, True] Translation: X:160.41, Y:-28.45, Z:-19.00 [[ 9.56784964e-01 2.78732836e-01 8.28887192e-02 1.60405204e+02] [-2.77929226e-01 9.60365045e-01 -2.13149327e-02 -2.84507636e+01] [-8.55446002e-02 -2.64339050e-03 9.96330836e-01 -1.89975699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.73629675700002 meters 0.07280372059240783 Centerline is valid? [True, True] Translation: X:160.44, Y:-28.46, Z:-19.00 [[ 9.56386380e-01 2.79771987e-01 8.39805126e-02 1.60435600e+02] [-2.78948953e-01 9.60062537e-01 -2.16195961e-02 -2.84580059e+01] [-8.66751013e-02 -2.74958882e-03 9.96232838e-01 -1.90012640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76629675700002 meters 0.07315519690868942 Centerline is valid? [True, True] Translation: X:160.47, Y:-28.47, Z:-19.00 [[ 9.55629464e-01 2.82611985e-01 8.30830490e-02 1.60466267e+02] [-2.81815976e-01 9.59229741e-01 -2.14023369e-02 -2.84651501e+01] [-8.57442885e-02 -2.96142681e-03 9.96312776e-01 -1.90032535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79629675700002 meters 0.0736348145294527 Centerline is valid? [True, True] Translation: X:160.50, Y:-28.47, Z:-19.01 [[ 9.54982961e-01 2.85062113e-01 8.21409585e-02 1.60497893e+02] [-2.84291099e-01 9.58503961e-01 -2.11832051e-02 -2.84700764e+01] [-8.47709633e-02 -3.12234340e-03 9.96395571e-01 -1.90071353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82629675700002 meters 0.07416773132696676 Centerline is valid? [True, True] Translation: X:160.53, Y:-28.48, Z:-19.01 [[ 9.54560511e-01 2.86661663e-01 8.14820372e-02 1.60528684e+02] [-2.85908694e-01 9.58026416e-01 -2.10144099e-02 -2.84765837e+01] [-8.40859697e-02 -3.23689702e-03 9.96453246e-01 -1.90115235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85629675700002 meters 0.07513931232817841 Centerline is valid? [True, True] Translation: X:160.56, Y:-28.48, Z:-19.02 [[ 9.54255226e-01 2.88216219e-01 7.95510804e-02 1.60558965e+02] [-2.87502010e-01 9.57559770e-01 -2.05397712e-02 -2.84824140e+01] [-8.20948094e-02 -3.27091149e-03 9.96619157e-01 -1.90173961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.88629675700003 meters 0.07506546098089532 Centerline is valid? [True, True] Translation: X:160.59, Y:-28.49, Z:-19.02 [[ 9.54278059e-01 2.88298349e-01 7.89775171e-02 1.60590077e+02] [-2.87594483e-01 9.57535111e-01 -2.03942351e-02 -2.84915603e+01] [-8.15033699e-02 -3.25172713e-03 9.96667762e-01 -1.90211354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.91629675700003 meters 0.07494167491098769 Centerline is valid? [True, True] Translation: X:160.62, Y:-28.50, Z:-19.02 [[ 9.54739203e-01 2.87386528e-01 7.66944508e-02 1.60619292e+02] [-2.86718034e-01 9.57809806e-01 -1.98278671e-02 -2.85019499e+01] [-7.91569589e-02 -3.05924015e-03 9.96857471e-01 -1.90245859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.94629675700003 meters 0.07496061569902267 Centerline is valid? [True, True] Translation: X:160.65, Y:-28.51, Z:-19.03 [[ 9.54871542e-01 2.86892550e-01 7.68960558e-02 1.60649385e+02] [-2.86217531e-01 9.57958041e-01 -1.98976446e-02 -2.85110587e+01] [-7.93716810e-02 -3.00930465e-03 9.96840549e-01 -1.90285472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.97629675700003 meters 0.07421117517310047 Centerline is valid? [True, True] Translation: X:160.68, Y:-28.52, Z:-19.03 [[ 9.55697930e-01 2.84109747e-01 7.69618009e-02 1.60677891e+02] [-2.83422715e-01 9.58787799e-01 -1.99379154e-02 -2.85213922e+01] [-7.94545918e-02 -2.75809805e-03 9.96834671e-01 -1.90310611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.00629675700003 meters 0.07406259993052346 Centerline is valid? [True, True] Translation: X:160.71, Y:-28.53, Z:-19.03 [[ 9.56089651e-01 2.82695719e-01 7.73027157e-02 1.60708616e+02] [-2.81997594e-01 9.59205984e-01 -2.00309099e-02 -2.85305940e+01] [-7.98118800e-02 -2.64783415e-03 9.96806427e-01 -1.90349886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.03629675700003 meters 0.0732701024958353 Centerline is valid? [True, True] Translation: X:160.74, Y:-28.54, Z:-19.04 [[ 9.56813592e-01 2.79713562e-01 7.91711591e-02 1.60737169e+02] [-2.78968974e-01 9.60080415e-01 -2.05403904e-02 -2.85406567e+01] [-8.17561050e-02 -2.43297233e-03 9.96649397e-01 -1.90368428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.06629675700003 meters 0.07270656272796591 Centerline is valid? [True, True] Translation: X:160.77, Y:-28.55, Z:-19.04 [[ 9.57376415e-01 2.77239449e-01 8.10474471e-02 1.60765685e+02] [-2.76449867e-01 9.60798176e-01 -2.10318030e-02 -2.85511170e+01] [-8.37010848e-02 -2.27020383e-03 9.96488321e-01 -1.90388779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.09629675700003 meters 0.07162805596502314 Centerline is valid? [True, True] Translation: X:160.80, Y:-28.56, Z:-19.04 [[ 9.57524066e-01 2.76408830e-01 8.21329556e-02 1.60796163e+02] [-2.75595108e-01 9.61037557e-01 -2.13107901e-02 -2.85632270e+01] [-8.48233455e-02 -2.22984637e-03 9.96393511e-01 -1.90382771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.12629675700003 meters 0.0724165434828203 Centerline is valid? [True, True] Translation: X:160.83, Y:-28.57, Z:-19.05 [[ 9.57486887e-01 2.76303445e-01 8.29172260e-02 1.60826869e+02] [-2.75471829e-01 9.61067882e-01 -2.15359681e-02 -2.85676883e+01] [-8.56395450e-02 -2.22095284e-03 9.96323710e-01 -1.90450535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.15629675700004 meters 0.07163741434274531 Centerline is valid? [True, True] Translation: X:160.86, Y:-28.58, Z:-19.05 [[ 9.57349671e-01 2.76778074e-01 8.29186725e-02 1.60858662e+02] [-2.75946658e-01 9.60931243e-01 -2.15543301e-02 -2.85774246e+01] [-8.56449089e-02 -2.24609971e-03 9.96323193e-01 -1.90464171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.18629675700004 meters 0.07122502348462321 Centerline is valid? [True, True] Translation: X:160.89, Y:-28.59, Z:-19.05 [[ 9.57256516e-01 2.77108298e-01 8.28912154e-02 1.60890499e+02] [-2.76276640e-01 9.60836052e-01 -2.15707943e-02 -2.85863449e+01] [-8.56223143e-02 -2.25212313e-03 9.96325121e-01 -1.90487332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.21629675700004 meters 0.07147572101767269 Centerline is valid? [True, True] Translation: X:160.92, Y:-28.59, Z:-19.05 [[ 9.56500795e-01 2.79519310e-01 8.35175734e-02 1.60922466e+02] [-2.78681915e-01 9.60136916e-01 -2.17598998e-02 -2.85915514e+01] [-8.62706175e-02 -2.46147593e-03 9.96268700e-01 -1.90524893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.24629675700004 meters 0.07216513950539012 Centerline is valid? [True, True] Translation: X:160.95, Y:-28.59, Z:-19.06 [[ 9.55581760e-01 2.82372107e-01 8.44363260e-02 1.60952980e+02] [-2.81524983e-01 9.59301086e-01 -2.20252330e-02 -2.85948547e+01] [-8.72191706e-02 -2.72402432e-03 9.96185422e-01 -1.90560973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.276296757 meters 0.07211267815983578 Centerline is valid? [True, True] Translation: X:160.98, Y:-28.60, Z:-19.06 [[ 9.55264737e-01 2.83675431e-01 8.36512592e-02 1.60984538e+02] [-2.82848412e-01 9.58916239e-01 -2.18270837e-02 -2.86023979e+01] [-8.64063583e-02 -2.80998247e-03 9.96256014e-01 -1.90580950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.306296757 meters 0.07272852218785096 Centerline is valid? [True, True] Translation: X:161.02, Y:-28.61, Z:-19.06 [[ 9.54877013e-01 2.84912019e-01 8.38750908e-02 1.61015976e+02] [-2.84082999e-01 9.58549273e-01 -2.19121409e-02 -2.86064383e+01] [-8.66414396e-02 -2.90408760e-03 9.96235327e-01 -1.90629294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.336296757 meters 0.07300890964865248 Centerline is valid? [True, True] Translation: X:161.05, Y:-28.61, Z:-19.07 [[ 9.54627951e-01 2.85930466e-01 8.32420851e-02 1.61046250e+02] [-2.85117424e-01 9.58245767e-01 -2.17509743e-02 -2.86134942e+01] [-8.59856418e-02 -2.96968089e-03 9.96291950e-01 -1.90670871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.36629675700001 meters 0.07309450556014374 Centerline is valid? [True, True] Translation: X:161.08, Y:-28.62, Z:-19.07 [[ 9.54952046e-01 2.85273181e-01 8.17667515e-02 1.61078258e+02] [-2.84484753e-01 9.58442040e-01 -2.13841554e-02 -2.86213117e+01] [-8.44690182e-02 -2.84055113e-03 9.96422057e-01 -1.90726350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.39629675700002 meters 0.07312328757280513 Centerline is valid? [True, True] Translation: X:161.11, Y:-28.63, Z:-19.08 [[ 9.55135396e-01 2.84808490e-01 8.12434595e-02 1.61107836e+02] [-2.84026088e-01 9.58580481e-01 -2.12754194e-02 -2.86291136e+01] [-8.39378145e-02 -2.75435589e-03 9.96467188e-01 -1.90764068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.42629675700002 meters 0.07323155047013652 Centerline is valid? [True, True] Translation: X:161.14, Y:-28.64, Z:-19.08 [[ 9.55299175e-01 2.84352131e-01 8.09157094e-02 1.61137386e+02] [-2.83573622e-01 9.58716124e-01 -2.11989202e-02 -2.86372296e+01] [-8.36031534e-02 -2.69424975e-03 9.96495486e-01 -1.90797775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.45629675700002 meters 0.07306502656200392 Centerline is valid? [True, True] Translation: X:161.17, Y:-28.65, Z:-19.08 [[ 9.55401000e-01 2.83895393e-01 8.13162621e-02 1.61167778e+02] [-2.83105892e-01 9.58851598e-01 -2.13229101e-02 -2.86453606e+01] [-8.40237038e-02 -2.64918320e-03 9.96460235e-01 -1.90835684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48629675700002 meters 0.07315102319005412 Centerline is valid? [True, True] Translation: X:161.20, Y:-28.65, Z:-19.09 [[ 9.55651138e-01 2.83055659e-01 8.13043408e-02 1.61197358e+02] [-2.82261565e-01 9.59100083e-01 -2.13410533e-02 -2.86528777e+01] [-8.40197059e-02 -2.55448856e-03 9.96460819e-01 -1.90875757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51629675700002 meters 0.0727969050391896 Centerline is valid? [True, True] Translation: X:161.23, Y:-28.66, Z:-19.09 [[ 9.55777486e-01 2.82334519e-01 8.23202110e-02 1.61227757e+02] [-2.81516120e-01 9.59312749e-01 -2.16269379e-02 -2.86621187e+01] [-8.50768590e-02 -2.50392605e-03 9.96371245e-01 -1.90902702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54629675700002 meters 0.07245566745624735 Centerline is valid? [True, True] Translation: X:161.26, Y:-28.67, Z:-19.09 [[ 9.56342645e-01 2.80496011e-01 8.20410457e-02 1.61257845e+02] [-2.79674647e-01 9.59852406e-01 -2.15743106e-02 -2.86723534e+01] [-8.47988032e-02 -2.31236724e-03 9.96395411e-01 -1.90922735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57629675700002 meters 0.07237477883945144 Centerline is valid? [True, True] Translation: X:161.29, Y:-28.68, Z:-19.09 [[ 9.56338552e-01 2.79636918e-01 8.49692174e-02 1.61287490e+02] [-2.78750281e-01 9.60103085e-01 -2.23684205e-02 -2.86806351e+01] [-8.78342439e-02 -2.29341033e-03 9.96132464e-01 -1.90949162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60629675700002 meters 0.07186220211648588 Centerline is valid? [True, True] Translation: X:161.32, Y:-28.69, Z:-19.10 [[ 9.56588991e-01 2.78326350e-01 8.64404098e-02 1.61318707e+02] [-2.77401630e-01 9.60484063e-01 -2.27749753e-02 -2.86899106e+01] [-8.93635118e-02 -2.19241992e-03 9.95996665e-01 -1.90984150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.63629675700003 meters 0.07160489444605228 Centerline is valid? [True, True] Translation: X:161.35, Y:-28.70, Z:-19.10 [[ 9.56518258e-01 2.77480198e-01 8.98752579e-02 1.61349582e+02] [-2.76475856e-01 9.60728861e-01 -2.36887260e-02 -2.86975847e+01] [-9.29189066e-02 -2.18963997e-03 9.95671272e-01 -1.91006871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.66629675700003 meters 0.07134188298324183 Centerline is valid? [True, True] Translation: X:161.38, Y:-28.71, Z:-19.10 [[ 9.56209585e-01 2.78330277e-01 9.05289267e-02 1.61381653e+02] [-2.77314696e-01 9.60482709e-01 -2.38647218e-02 -2.87058954e+01] [-9.35937434e-02 -2.28532611e-03 9.95607849e-01 -1.91030858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.69629675700003 meters 0.0718926555084695 Centerline is valid? [True, True] Translation: X:161.41, Y:-28.71, Z:-19.11 [[ 9.55884490e-01 2.79733375e-01 8.96330331e-02 1.61412432e+02] [-2.78741398e-01 9.60074796e-01 -2.36562711e-02 -2.87108212e+01] [-9.26718645e-02 -2.37177435e-03 9.95693879e-01 -1.91084191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.72629675700003 meters 0.0718620902928338 Centerline is valid? [True, True] Translation: X:161.44, Y:-28.72, Z:-19.11 [[ 9.55193059e-01 2.82249279e-01 8.91154542e-02 1.61443253e+02] [-2.81277406e-01 9.59337638e-01 -2.35439593e-02 -2.87192418e+01] [-9.21370748e-02 -2.57713731e-03 9.95742998e-01 -1.91110214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.75629675700003 meters 0.07297606403922521 Centerline is valid? [True, True] Translation: X:161.47, Y:-28.72, Z:-19.12 [[ 9.54794530e-01 2.83763463e-01 8.85759747e-02 1.61474144e+02] [-2.82809513e-01 9.58890499e-01 -2.34049091e-02 -2.87215941e+01] [-9.15761186e-02 -2.70324915e-03 9.95794410e-01 -1.91176025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.78629675700003 meters 0.07305275483551606 Centerline is valid? [True, True] Translation: X:161.50, Y:-28.73, Z:-19.12 [[ 9.54129050e-01 2.86964880e-01 8.53751385e-02 1.61504816e+02] [-2.86089710e-01 9.57936770e-01 -2.25792476e-02 -2.87269987e+01] [-8.82634355e-02 -2.88143263e-03 9.96092999e-01 -1.91225308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.81629675700003 meters 0.07359134763767067 Centerline is valid? [True, True] Translation: X:161.54, Y:-28.73, Z:-19.13 [[ 9.53788060e-01 2.88402386e-01 8.43350467e-02 1.61536168e+02] [-2.87552483e-01 9.57504726e-01 -2.23219425e-02 -2.87318780e+01] [-8.71889072e-02 -2.96034986e-03 9.96187397e-01 -1.91274421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.84629675700003 meters 0.07374341609014935 Centerline is valid? [True, True] Translation: X:161.57, Y:-28.74, Z:-19.13 [[ 9.53216507e-01 2.91064636e-01 8.16067883e-02 1.61567123e+02] [-2.90276621e-01 9.56698443e-01 -2.16234130e-02 -2.87391391e+01] [-8.43668981e-02 -3.07674858e-03 9.96430008e-01 -1.91309846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.87629675700003 meters 0.07393948902996843 Centerline is valid? [True, True] Translation: X:161.60, Y:-28.75, Z:-19.14 [[ 9.52972364e-01 2.92359624e-01 7.98092965e-02 1.61596950e+02] [-2.91609989e-01 9.56303377e-01 -2.11533717e-02 -2.87465209e+01] [-8.25062915e-02 -3.11460942e-03 9.96585677e-01 -1.91362068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.90629675700004 meters 0.07395690935097046 Centerline is valid? [True, True] Translation: X:161.63, Y:-28.75, Z:-19.14 [[ 9.53142087e-01 2.92175165e-01 7.84463836e-02 1.61627813e+02] [-2.91449841e-01 9.56359991e-01 -2.07980101e-02 -2.87544283e+01] [-8.10996448e-02 -3.03972726e-03 9.96701363e-01 -1.91400078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.93629675700004 meters 0.07401707024051224 Centerline is valid? [True, True] Translation: X:161.66, Y:-28.76, Z:-19.14 [[ 9.52901134e-01 2.92883234e-01 7.87327110e-02 1.61659413e+02] [-2.92153412e-01 9.56143215e-01 -2.08934703e-02 -2.87621826e+01] [-8.13990945e-02 -3.09261855e-03 9.96676790e-01 -1.91438657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.96629675700004 meters 0.07389403204821536 Centerline is valid? [True, True] Translation: X:161.69, Y:-28.77, Z:-19.15 [[ 9.52763624e-01 2.93168274e-01 7.93337270e-02 1.61690910e+02] [-2.92426192e-01 9.56055776e-01 -2.10778455e-02 -2.87693463e+01] [-8.20268236e-02 -3.11705519e-03 9.96625248e-01 -1.91469264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.99629675700004 meters 0.07412308980675662 Centerline is valid? [True, True] Translation: X:161.72, Y:-28.78, Z:-19.15 [[ 9.52653548e-01 2.93571643e-01 7.91637993e-02 1.61721269e+02] [-2.92832416e-01 9.55931967e-01 -2.10535385e-02 -2.87765579e+01] [-8.18559282e-02 -3.12499847e-03 9.96639273e-01 -1.91503114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.026296757 meters 0.07382763462459255 Centerline is valid? [True, True] Translation: X:161.75, Y:-28.79, Z:-19.15 [[ 9.52550974e-01 2.93269962e-01 8.14823388e-02 1.61750921e+02] [-2.92483923e-01 9.56024411e-01 -2.16905612e-02 -2.87862843e+01] [-8.42602950e-02 -3.17090892e-03 9.96438733e-01 -1.91518788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.056296757 meters 0.07402732249695888 Centerline is valid? [True, True] Translation: X:161.78, Y:-28.80, Z:-19.15 [[ 9.52287510e-01 2.94033409e-01 8.18098636e-02 1.61782294e+02] [-2.93242466e-01 9.55789664e-01 -2.17938886e-02 -2.87954752e+01] [-8.46011534e-02 -3.23607826e-03 9.96409641e-01 -1.91547459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.086296757 meters 0.07408818476975425 Centerline is valid? [True, True] Translation: X:161.81, Y:-28.80, Z:-19.16 [[ 9.52139814e-01 2.94390593e-01 8.22432586e-02 1.61813897e+02] [-2.93590518e-01 9.55679620e-01 -2.19333380e-02 -2.88036968e+01] [-8.50551745e-02 -3.26223659e-03 9.96370902e-01 -1.91585985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.11629675700001 meters 0.0738316299374797 Centerline is valid? [True, True] Translation: X:161.84, Y:-28.81, Z:-19.16 [[ 9.51820526e-01 2.95660512e-01 8.13790397e-02 1.61844760e+02] [-2.94879780e-01 9.55287318e-01 -2.17268570e-02 -2.88129372e+01] [-8.41641382e-02 -3.31696483e-03 9.96446384e-01 -1.91613956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.14629675700002 meters 0.07372654725908351 Centerline is valid? [True, True] Translation: X:161.88, Y:-28.82, Z:-19.16 [[ 9.51606517e-01 2.96526081e-01 8.07299232e-02 1.61875182e+02] [-2.95759102e-01 9.55018894e-01 -2.15746688e-02 -2.88213483e+01] [-8.34960539e-02 -3.34601411e-03 9.96502490e-01 -1.91643054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.17629675700002 meters 0.07416757794209788 Centerline is valid? [True, True] Translation: X:161.91, Y:-28.83, Z:-19.17 [[ 9.51601692e-01 2.96160790e-01 8.21158042e-02 1.61905023e+02] [-2.95363906e-01 9.55132226e-01 -2.19680270e-02 -2.88284460e+01] [-8.49375191e-02 -3.34923303e-03 9.96380650e-01 -1.91682921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.20629675700002 meters 0.07359784938640443 Centerline is valid? [True, True] Translation: X:161.94, Y:-28.84, Z:-19.17 [[ 9.51521289e-01 2.96436349e-01 8.20532009e-02 1.61935595e+02] [-2.95640126e-01 9.55046724e-01 -2.19697763e-02 -2.88400921e+01] [-8.48772810e-02 -3.35350884e-03 9.96385769e-01 -1.91696366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23629675700002 meters 0.07419858024355401 Centerline is valid? [True, True] Translation: X:161.97, Y:-28.84, Z:-19.18 [[ 9.51527826e-01 2.96573583e-01 8.14794803e-02 1.61966684e+02] [-2.95786827e-01 9.55004242e-01 -2.18414898e-02 -2.88449934e+01] [-8.42908582e-02 -3.31777164e-03 9.96435670e-01 -1.91751278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26629675700002 meters 0.07350852793330614 Centerline is valid? [True, True] Translation: X:162.00, Y:-28.86, Z:-19.18 [[ 9.51345563e-01 2.96953941e-01 8.22190730e-02 1.61996547e+02] [-2.96152177e-01 9.54885896e-01 -2.20638595e-02 -2.88561762e+01] [-8.50617832e-02 -3.35900270e-03 9.96370017e-01 -1.91764190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29629675700002 meters 0.07464459896879616 Centerline is valid? [True, True] Translation: X:162.03, Y:-28.86, Z:-19.18 [[ 9.51085555e-01 2.97764092e-01 8.22970976e-02 1.62027453e+02] [-2.96961890e-01 9.54633383e-01 -2.21074540e-02 -2.88585784e+01] [-8.51463627e-02 -3.41302143e-03 9.96362609e-01 -1.91819105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32629675700002 meters 0.07410964542725977 Centerline is valid? [True, True] Translation: X:162.06, Y:-28.87, Z:-19.18 [[ 9.50875622e-01 2.98641535e-01 8.15400852e-02 1.62058096e+02] [-2.97855611e-01 9.54359154e-01 -2.19234896e-02 -2.88687343e+01] [-8.43657913e-02 -3.44066006e-03 9.96428911e-01 -1.91840993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35629675700002 meters 0.07390232794610659 Centerline is valid? [True, True] Translation: X:162.09, Y:-28.88, Z:-19.19 [[ 9.50676580e-01 2.99467246e-01 8.08295114e-02 1.62089058e+02] [-2.98696185e-01 9.54100297e-01 -2.17534496e-02 -2.88771336e+01] [-8.36339065e-02 -3.46297168e-03 9.96490531e-01 -1.91866598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.38629675700003 meters 0.07446475385023225 Centerline is valid? [True, True] Translation: X:162.12, Y:-28.88, Z:-19.19 [[ 9.50533254e-01 2.99971409e-01 8.06454362e-02 1.62118970e+02] [-2.99203717e-01 9.53941856e-01 -2.17271923e-02 -2.88819702e+01] [-8.34485936e-02 -3.47699550e-03 9.96506017e-01 -1.91924065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.41629675700003 meters 0.07446475385023225 Centerline is valid? [True, True] Translation: X:162.15, Y:-28.89, Z:-19.20 [[ 9.50449641e-01 3.00237223e-01 8.06417406e-02 1.62150058e+02] [-2.99469324e-01 9.53858196e-01 -2.17408991e-02 -2.88904489e+01] [-8.34482124e-02 -3.48609780e-03 9.96506018e-01 -1.91960218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.44629675700003 meters 0.07433696406241756 Centerline is valid? [True, True] Translation: X:162.18, Y:-28.90, Z:-19.20 [[ 9.50284322e-01 3.01128700e-01 7.92541071e-02 1.62180724e+02] [-3.00388078e-01 9.53577162e-01 -2.13915672e-02 -2.88963542e+01] [-8.20165214e-02 -3.47891796e-03 9.96624898e-01 -1.92012507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.47629675700003 meters 0.07456611097727392 Centerline is valid? [True, True] Translation: X:162.21, Y:-28.90, Z:-19.21 [[ 9.50039349e-01 3.02232301e-01 7.79799374e-02 1.62211467e+02] [-3.01517515e-01 9.53227883e-01 -2.10663475e-02 -2.89029846e+01] [-8.06995813e-02 -3.49845788e-03 9.96732330e-01 -1.92056832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.50629675700003 meters 0.07466015104362235 Centerline is valid? [True, True] Translation: X:162.24, Y:-28.91, Z:-19.21 [[ 9.49872442e-01 3.02751403e-01 7.79995668e-02 1.62243576e+02] [-3.02036584e-01 9.53063036e-01 -2.10891379e-02 -2.89094530e+01] [-8.07232700e-02 -3.52673175e-03 9.96730312e-01 -1.92099604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.53629675700003 meters 0.07485848387239635 Centerline is valid? [True, True] Translation: X:162.27, Y:-28.92, Z:-19.21 [[ 9.49970323e-01 3.02322676e-01 7.84690109e-02 1.62273660e+02] [-3.01595470e-01 9.53199275e-01 -2.12441845e-02 -2.89158898e+01] [-8.12192030e-02 -3.48455338e-03 9.96690172e-01 -1.92137337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.56629675700003 meters 0.07428796454646258 Centerline is valid? [True, True] Translation: X:162.30, Y:-28.93, Z:-19.21 [[ 9.50499590e-01 3.00461652e-01 7.92043211e-02 1.62303739e+02] [-2.99713418e-01 9.53788025e-01 -2.14539410e-02 -2.89251587e+01] [-8.19902195e-02 -3.34663560e-03 9.96627515e-01 -1.92145067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.59629675700003 meters 0.07424305740079556 Centerline is valid? [True, True] Translation: X:162.33, Y:-28.93, Z:-19.22 [[ 9.50930270e-01 2.99203863e-01 7.87951204e-02 1.62334207e+02] [-2.98457948e-01 9.54183816e-01 -2.13564809e-02 -2.89324238e+01] [-8.15749702e-02 -3.20850577e-03 9.96662044e-01 -1.92183427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.62629675700003 meters 0.07347067380498969 Centerline is valid? [True, True] Translation: X:162.36, Y:-28.94, Z:-19.22 [[ 9.51637354e-01 2.95841779e-01 8.28491851e-02 1.62363978e+02] [-2.95002292e-01 9.55232090e-01 -2.24789142e-02 -2.89421150e+01] [-8.57904022e-02 -3.04892506e-03 9.96308542e-01 -1.92196923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.65629675700004 meters 0.07220449943185546 Centerline is valid? [True, True] Translation: X:162.39, Y:-28.95, Z:-19.22 [[ 9.52717765e-01 2.91725531e-01 8.50004390e-02 1.62393737e+02] [-2.90823510e-01 9.56498185e-01 -2.30847861e-02 -2.89540561e+01] [-8.80371871e-02 -2.72684018e-03 9.96113456e-01 -1.92208934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.68629675700004 meters 0.07194876998060641 Centerline is valid? [True, True] Translation: X:162.42, Y:-28.96, Z:-19.22 [[ 9.53305859e-01 2.89598687e-01 8.56769458e-02 1.62423085e+02] [-2.88672890e-01 9.57144784e-01 -2.32771522e-02 -2.89620340e+01] [-8.87462745e-02 -2.54236597e-03 9.96051020e-01 -1.92245777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.71629675700004 meters 0.07139071891715848 Centerline is valid? [True, True] Translation: X:162.45, Y:-28.97, Z:-19.23 [[ 9.54397415e-01 2.85116872e-01 8.85095692e-02 1.62452317e+02] [-2.84107539e-01 9.58490290e-01 -2.40680508e-02 -2.89709458e+01] [-9.16977700e-02 -2.17575043e-03 9.95784507e-01 -1.92282623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.74629675700004 meters 0.07147815437121571 Centerline is valid? [True, True] Translation: X:162.48, Y:-28.98, Z:-19.23 [[ 9.54901129e-01 2.83409659e-01 8.85595838e-02 1.62482552e+02] [-2.82390209e-01 9.58996863e-01 -2.40995302e-02 -2.89776003e+01] [-9.17584027e-02 -1.99569082e-03 9.95779299e-01 -1.92336668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.776296757 meters 0.07096876865406865 Centerline is valid? [True, True] Translation: X:162.51, Y:-28.99, Z:-19.24 [[ 9.55347033e-01 2.81864715e-01 8.86810567e-02 1.62512897e+02] [-2.80834801e-01 9.59452396e-01 -2.41436282e-02 -2.89871003e+01] [-9.18904892e-02 -1.83918330e-03 9.95767420e-01 -1.92366884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.806296757 meters 0.07030154633877476 Centerline is valid? [True, True] Translation: X:162.54, Y:-29.00, Z:-19.24 [[ 9.56078777e-01 2.79076833e-01 8.96074418e-02 1.62544035e+02] [-2.78010679e-01 9.60267503e-01 -2.44209989e-02 -2.89972541e+01] [-9.28624494e-02 -1.56342703e-03 9.95677720e-01 -1.92388584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.836296757 meters 0.06997438418304208 Centerline is valid? [True, True] Translation: X:162.57, Y:-29.00, Z:-19.24 [[ 9.56215028e-01 2.78232832e-01 9.07706550e-02 1.62574089e+02] [-2.77134403e-01 9.60512497e-01 -2.47440248e-02 -2.90026499e+01] [-9.40709486e-02 -1.49506288e-03 9.95564373e-01 -1.92433054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.86629675700001 meters 0.06959035437434213 Centerline is valid? [True, True] Translation: X:162.61, Y:-29.01, Z:-19.24 [[ 9.56091847e-01 2.78585595e-01 9.09859687e-02 1.62605599e+02] [-2.77481598e-01 9.60410212e-01 -2.48231376e-02 -2.90108809e+01] [-9.42992220e-02 -1.51373245e-03 9.95542749e-01 -1.92442421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.89629675700002 meters 0.0696319022120975 Centerline is valid? [True, True] Translation: X:162.64, Y:-29.01, Z:-19.25 [[ 9.55943128e-01 2.79496365e-01 8.97469715e-02 1.62636100e+02] [-2.78423761e-01 9.60145490e-01 -2.45121736e-02 -2.90127086e+01] [-9.30212134e-02 -1.55544542e-03 9.95662912e-01 -1.92517906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.92629675700002 meters 0.06934922909920603 Centerline is valid? [True, True] Translation: X:162.67, Y:-29.02, Z:-19.25 [[ 9.55855427e-01 2.80657877e-01 8.70146988e-02 1.62667283e+02] [-2.79653140e-01 9.59806536e-01 -2.37809587e-02 -2.90221265e+01] [-9.01915900e-02 -1.60277530e-03 9.95923144e-01 -1.92519847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95629675700002 meters 0.06974493949165347 Centerline is valid? [True, True] Translation: X:162.70, Y:-29.03, Z:-19.26 [[ 9.55738813e-01 2.81481405e-01 8.56244142e-02 1.62697744e+02] [-2.80509827e-01 9.59565296e-01 -2.34239056e-02 -2.90268744e+01] [-8.87556102e-02 -1.63135387e-03 9.96052097e-01 -1.92585974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98629675700002 meters 0.06976964937766957 Centerline is valid? [True, True] Translation: X:162.73, Y:-29.03, Z:-19.26 [[ 9.55429451e-01 2.83081968e-01 8.37804504e-02 1.62729243e+02] [-2.82156263e-01 9.59094173e-01 -2.29392774e-02 -2.90318529e+01] [-8.68470375e-02 -1.72231761e-03 9.96220169e-01 -1.92631622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01629675700002 meters 0.07003631415703718 Centerline is valid? [True, True] Translation: X:162.76, Y:-29.04, Z:-19.27 [[ 9.55365764e-01 2.83623417e-01 8.26681014e-02 1.62759732e+02] [-2.82722112e-01 9.58934191e-01 -2.26588673e-02 -2.90380653e+01] [-8.56998543e-02 -1.72459421e-03 9.96319507e-01 -1.92667615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04629675700002 meters 0.07020050830169242 Centerline is valid? [True, True] Translation: X:162.79, Y:-29.04, Z:-19.27 [[ 9.55395157e-01 2.84055561e-01 8.08240832e-02 1.62789955e+02] [-2.83194668e-01 9.58806291e-01 -2.21647298e-02 -2.90422010e+01] [-8.37906542e-02 -1.71287398e-03 9.96481908e-01 -1.92714052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07629675700002 meters 0.06980104129135076 Centerline is valid? [True, True] Translation: X:162.82, Y:-29.05, Z:-19.27 [[ 9.55022243e-01 2.85527450e-01 8.00411780e-02 1.62821659e+02] [-2.84687787e-01 9.58368807e-01 -2.19566137e-02 -2.90487159e+01] [-8.29781842e-02 -1.81769134e-03 9.96549706e-01 -1.92731313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10629675700002 meters 0.06960064357094906 Centerline is valid? [True, True] Translation: X:162.85, Y:-29.06, Z:-19.27 [[ 9.54881897e-01 2.86396588e-01 7.85974336e-02 1.62853019e+02] [-2.85588292e-01 9.58109393e-01 -2.15804983e-02 -2.90571814e+01] [-8.14855205e-02 -1.83967962e-03 9.96672828e-01 -1.92745963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.13629675700003 meters 0.06989358184784708 Centerline is valid? [True, True] Translation: X:162.88, Y:-29.06, Z:-19.28 [[ 9.54534546e-01 2.87285076e-01 7.95681236e-02 1.62882769e+02] [-2.86457907e-01 9.57843206e-01 -2.18691854e-02 -2.90626993e+01] [-8.24964772e-02 -1.91802515e-03 9.96589510e-01 -1.92805182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.16629675700003 meters 0.0697780408626006 Centerline is valid? [True, True] Translation: X:162.91, Y:-29.07, Z:-19.28 [[ 9.53977197e-01 2.89199430e-01 7.93170672e-02 1.62913835e+02] [-2.88382503e-01 9.57266657e-01 -2.18192621e-02 -2.90697333e+01] [-8.22377019e-02 -2.05857590e-03 9.96610617e-01 -1.92830211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.19629675700003 meters 0.06953808841794097 Centerline is valid? [True, True] Translation: X:162.95, Y:-29.08, Z:-19.29 [[ 9.53686056e-01 2.90072286e-01 7.96302474e-02 1.62945460e+02] [-2.89250298e-01 9.57002382e-01 -2.19249981e-02 -2.90784280e+01] [-8.25661708e-02 -2.12350782e-03 9.96583322e-01 -1.92857327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.22629675700003 meters 0.06954658726000729 Centerline is valid? [True, True] Translation: X:162.98, Y:-29.08, Z:-19.29 [[ 9.53376717e-01 2.90613090e-01 8.13441303e-02 1.62975845e+02] [-2.89755003e-01 9.56838141e-01 -2.24234415e-02 -2.90849981e+01] [-8.43497120e-02 -2.19188160e-03 9.96433802e-01 -1.92891204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.25629675700003 meters 0.06972728203331158 Centerline is valid? [True, True] Translation: X:163.01, Y:-29.09, Z:-19.29 [[ 9.53043561e-01 2.91338475e-01 8.26429940e-02 1.63005748e+02] [-2.90453505e-01 9.56617341e-01 -2.28040516e-02 -2.90916456e+01] [-8.57014188e-02 -2.27069271e-03 9.96318278e-01 -1.92916761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.28629675700003 meters 0.06966593277723027 Centerline is valid? [True, True] Translation: X:163.04, Y:-29.10, Z:-19.29 [[ 9.52901142e-01 2.91634791e-01 8.32379871e-02 1.63036991e+02] [-2.90736950e-01 9.56526976e-01 -2.29819708e-02 -2.91006557e+01] [-8.63217223e-02 -2.30081229e-03 9.96264657e-01 -1.92945579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.31629675700003 meters 0.06960572970351488 Centerline is valid? [True, True] Translation: X:163.07, Y:-29.11, Z:-19.30 [[ 9.52566419e-01 2.92440605e-01 8.42360315e-02 1.63068339e+02] [-2.91523861e-01 9.56280680e-01 -2.32615421e-02 -2.91090256e+01] [-8.73559090e-02 -2.39864932e-03 9.96174278e-01 -1.92961726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.34629675700003 meters 0.06960446431185974 Centerline is valid? [True, True] Translation: X:163.10, Y:-29.12, Z:-19.30 [[ 9.52132525e-01 2.93884404e-01 8.41166514e-02 1.63098910e+02] [-2.92973979e-01 9.55837682e-01 -2.32502497e-02 -2.91165469e+01] [-8.72347509e-02 -2.50667110e-03 9.96184629e-01 -1.92990454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.37629675700003 meters 0.0704102084275311 Centerline is valid? [True, True] Translation: X:163.13, Y:-29.12, Z:-19.30 [[ 9.51125545e-01 2.97354063e-01 8.33112228e-02 1.63131007e+02] [-2.96472216e-01 9.54763249e-01 -2.30513160e-02 -2.91192923e+01] [-8.63968963e-02 -2.77476739e-03 9.96256933e-01 -1.93031877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.40629675700004 meters 0.070997372313321 Centerline is valid? [True, True] Translation: X:163.16, Y:-29.12, Z:-19.31 [[ 9.50460882e-01 2.99574830e-01 8.29399398e-02 1.63163016e+02] [-2.98708985e-01 9.54068215e-01 -2.29517628e-02 -2.91235822e+01] [-8.60061307e-02 -2.96015251e-03 9.96290210e-01 -1.93077650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.43629675700004 meters 0.07174059834534348 Centerline is valid? [True, True] Translation: X:163.19, Y:-29.13, Z:-19.31 [[ 9.49379952e-01 3.03381470e-01 8.14701863e-02 1.63193466e+02] [-3.02559146e-01 9.52863691e-01 -2.25554898e-02 -2.91262062e+01] [-8.44729000e-02 -3.23582021e-03 9.96420523e-01 -1.93119448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.46629675700004 meters 0.0727996782762423 Centerline is valid? [True, True] Translation: X:163.22, Y:-29.13, Z:-19.32 [[ 9.48755459e-01 3.05925043e-01 7.92019449e-02 1.63223569e+02] [-3.05156045e-01 9.52049683e-01 -2.19360327e-02 -2.91294102e+01] [-8.21149683e-02 -3.35702155e-03 9.96617210e-01 -1.93165823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.49629675700004 meters 0.07322700264602054 Centerline is valid? [True, True] Translation: X:163.25, Y:-29.14, Z:-19.32 [[ 9.48696655e-01 3.06564837e-01 7.74122632e-02 1.63254574e+02] [-3.05831631e-01 9.51843967e-01 -2.14493850e-02 -2.91366409e+01] [-8.02600229e-02 -3.32615892e-03 9.96768411e-01 -1.93209631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.526296757 meters 0.0711016076296135 Centerline is valid? [True, True] Translation: X:163.28, Y:-29.15, Z:-19.32 [[ 9.48794921e-01 3.06619549e-01 7.59779586e-02 1.63283553e+02] [-3.05913236e-01 9.51826552e-01 -2.10548427e-02 -2.91517494e+01] [-7.87736648e-02 -3.26593533e-03 9.96887177e-01 -1.93191257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.556296757 meters 0.07205444946500583 Centerline is valid? [True, True] Translation: X:163.31, Y:-29.16, Z:-19.33 [[ 9.49443272e-01 3.04928080e-01 7.46748929e-02 1.63313689e+02] [-3.04240049e-01 9.52370449e-01 -2.07007305e-02 -2.91564342e+01] [-7.74303953e-02 -3.06492377e-03 9.96993049e-01 -1.93262188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.586296757 meters 0.07141831103012078 Centerline is valid? [True, True] Translation: X:163.34, Y:-29.17, Z:-19.33 [[ 9.49877017e-01 3.03923868e-01 7.32388855e-02 1.63344688e+02] [-3.03257436e-01 9.52691895e-01 -2.03244104e-02 -2.91690971e+01] [-7.59511660e-02 -2.90454627e-03 9.97107308e-01 -1.93278547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.61629675700001 meters 0.07091380712946836 Centerline is valid? [True, True] Translation: X:163.37, Y:-29.18, Z:-19.33 [[ 9.51453080e-01 2.99088740e-01 7.26839852e-02 1.63372724e+02] [-2.98417340e-01 9.54222060e-01 -2.01829492e-02 -2.91811925e+01] [-7.53931549e-02 -2.48703232e-03 9.97150784e-01 -1.93306079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.64629675700002 meters 0.07027570903135934 Centerline is valid? [True, True] Translation: X:163.40, Y:-29.19, Z:-19.33 [[ 9.53063367e-01 2.94550929e-01 7.00711724e-02 1.63401813e+02] [-2.93915055e-01 9.55633573e-01 -1.94528632e-02 -2.91948280e+01] [-7.26922238e-02 -2.05516118e-03 9.97352303e-01 -1.93343294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.67629675700002 meters 0.07021159962044311 Centerline is valid? [True, True] Translation: X:163.43, Y:-29.21, Z:-19.34 [[ 9.53706624e-01 2.92387377e-01 7.03796570e-02 1.63431263e+02] [-2.91738630e-01 9.56298115e-01 -1.95572645e-02 -2.92053661e+01] [-7.30222306e-02 -1.88057199e-03 9.97328540e-01 -1.93389695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70629675700002 meters 0.06972461687762074 Centerline is valid? [True, True] Translation: X:163.46, Y:-29.22, Z:-19.34 [[ 9.54758289e-01 2.88678690e-01 7.14228501e-02 1.63459011e+02] [-2.87998362e-01 9.57424704e-01 -1.98715950e-02 -2.92166965e+01] [-7.41185071e-02 -1.59709384e-03 9.97248162e-01 -1.93432193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73629675700002 meters 0.06958427076947014 Centerline is valid? [True, True] Translation: X:163.49, Y:-29.23, Z:-19.35 [[ 9.54807043e-01 2.88293436e-01 7.23215418e-02 1.63489832e+02] [-2.87594090e-01 9.57540810e-01 -2.01304749e-02 -2.92267299e+01] [-7.50543115e-02 -1.57852878e-03 9.97178198e-01 -1.93464630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76629675700002 meters 0.06943092927864858 Centerline is valid? [True, True] Translation: X:163.52, Y:-29.24, Z:-19.35 [[ 9.54851061e-01 2.87724528e-01 7.39868025e-02 1.63519756e+02] [-2.86990735e-01 9.57711929e-01 -2.05956239e-02 -2.92364933e+01] [-7.67839095e-02 -1.56777350e-03 9.97046525e-01 -1.93500193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79629675700002 meters 0.0687451115089511 Centerline is valid? [True, True] Translation: X:163.55, Y:-29.25, Z:-19.35 [[ 9.54756293e-01 2.87065791e-01 7.76765957e-02 1.63549351e+02] [-2.86252527e-01 9.57909590e-01 -2.16496687e-02 -2.92482833e+01] [-8.06220352e-02 -1.56496439e-03 9.96743517e-01 -1.93507833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82629675700002 meters 0.06874479111234665 Centerline is valid? [True, True] Translation: X:163.58, Y:-29.26, Z:-19.35 [[ 9.54445363e-01 2.87661586e-01 7.92771092e-02 1.63579319e+02] [-2.86816511e-01 9.57730699e-01 -2.20951983e-02 -2.92569710e+01] [-8.22820610e-02 -1.64932428e-03 9.96607717e-01 -1.93542384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85629675700002 meters 0.06880007636277716 Centerline is valid? [True, True] Translation: X:163.61, Y:-29.27, Z:-19.35 [[ 9.53349231e-01 2.91034228e-01 8.01518750e-02 1.63609982e+02] [-2.90180713e-01 9.56710666e-01 -2.23574345e-02 -2.92671987e+01] [-8.31889324e-02 -1.94408529e-03 9.96531897e-01 -1.93543846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.88629675700003 meters 0.06966031502599383 Centerline is valid? [True, True] Translation: X:163.64, Y:-29.27, Z:-19.36 [[ 9.51713232e-01 2.96862229e-01 7.81968058e-02 1.63640747e+02] [-2.96067453e-01 9.54917381e-01 -2.18370751e-02 -2.92735087e+01] [-8.11540918e-02 -2.36889579e-03 9.96698752e-01 -1.93602227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.91629675700003 meters 0.07025834175480045 Centerline is valid? [True, True] Translation: X:163.67, Y:-29.28, Z:-19.37 [[ 9.50770160e-01 3.00166764e-01 7.70455554e-02 1.63671190e+02] [-2.99405961e-01 9.53883169e-01 -2.15167475e-02 -2.92801054e+01] [-7.99510710e-02 -2.61041712e-03 9.96795371e-01 -1.93654049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.94629675700003 meters 0.07169020467832217 Centerline is valid? [True, True] Translation: X:163.70, Y:-29.28, Z:-19.37 [[ 9.49056980e-01 3.05965581e-01 7.53386458e-02 1.63700770e+02] [-3.05254691e-01 9.52037818e-01 -2.10610290e-02 -2.92841768e+01] [-7.81691900e-02 -3.00935847e-03 9.96935565e-01 -1.93716608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.97629675700003 meters 0.07128345341908629 Centerline is valid? [True, True] Translation: X:163.73, Y:-29.29, Z:-19.37 [[ 9.48341117e-01 3.08575162e-01 7.36918941e-02 1.63730787e+02] [-3.07902304e-01 9.51194760e-01 -2.06082706e-02 -2.92947210e+01] [-7.64545439e-02 -3.14623359e-03 9.97068104e-01 -1.93736061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.00629675700003 meters 0.07208487239596345 Centerline is valid? [True, True] Translation: X:163.76, Y:-29.30, Z:-19.38 [[ 9.47372819e-01 3.11853311e-01 7.23343213e-02 1.63760709e+02] [-3.11214216e-01 9.50124379e-01 -2.02330623e-02 -2.93027183e+01] [-7.50363496e-02 -3.34321579e-03 9.97175195e-01 -1.93775462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.03629675700003 meters 0.07253559387967166 Centerline is valid? [True, True] Translation: X:163.79, Y:-29.31, Z:-19.38 [[ 9.46962532e-01 3.13074528e-01 7.24313718e-02 1.63791381e+02] [-3.12437473e-01 9.49722305e-01 -2.02575426e-02 -2.93112073e+01] [-7.51318100e-02 -3.44714096e-03 9.97167653e-01 -1.93816782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.06629675700003 meters 0.07276049987904028 Centerline is valid? [True, True] Translation: X:163.82, Y:-29.32, Z:-19.39 [[ 9.46570443e-01 3.13933992e-01 7.38230710e-02 1.63822127e+02] [-3.13273241e-01 9.49438122e-01 -2.06671081e-02 -2.93203631e+01] [-7.65785456e-02 -3.56391909e-03 9.97057182e-01 -1.93853303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.09629675700003 meters 0.07313154462156089 Centerline is valid? [True, True] Translation: X:163.85, Y:-29.33, Z:-19.39 [[ 9.46116371e-01 3.14913829e-01 7.54525867e-02 1.63851896e+02] [-3.14224975e-01 9.49113040e-01 -2.11447774e-02 -2.93288087e+01] [-7.82718168e-02 -3.70366711e-03 9.96925176e-01 -1.93888914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.12629675700003 meters 0.07358451451585037 Centerline is valid? [True, True] Translation: X:163.88, Y:-29.34, Z:-19.39 [[ 9.45693005e-01 3.15751608e-01 7.72376999e-02 1.63882028e+02] [-3.15030923e-01 9.48834099e-01 -2.16649740e-02 -2.93363419e+01] [-8.01265137e-02 -3.84384950e-03 9.96777290e-01 -1.93923425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.15629675700004 meters 0.0737118883036201 Centerline is valid? [True, True] Translation: X:163.91, Y:-29.34, Z:-19.40 [[ 9.45524718e-01 3.16000602e-01 7.82727766e-02 1.63913193e+02] [-3.15259771e-01 9.48750977e-01 -2.19741070e-02 -2.93446200e+01] [-8.12052042e-02 -3.89919629e-03 9.96689777e-01 -1.93959513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.18629675700004 meters 0.07302196442363547 Centerline is valid? [True, True] Translation: X:163.94, Y:-29.36, Z:-19.40 [[ 9.45532097e-01 3.16032174e-01 7.80558633e-02 1.63944482e+02] [-3.15294046e-01 9.48740566e-01 -2.19317768e-02 -2.93559177e+01] [-8.09859111e-02 -3.87335000e-03 9.96707720e-01 -1.93986220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.21629675700004 meters 0.073281600425486 Centerline is valid? [True, True] Translation: X:163.98, Y:-29.37, Z:-19.40 [[ 9.45703666e-01 3.15297554e-01 7.89432054e-02 1.63975374e+02] [-3.14537536e-01 9.48985151e-01 -2.22108470e-02 -2.93653852e+01] [-8.19189554e-02 -3.82572193e-03 9.96631651e-01 -1.94024908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.24629675700004 meters 0.07414132504680149 Centerline is valid? [True, True] Translation: X:164.00, Y:-29.37, Z:-19.41 [[ 9.46075806e-01 3.13871628e-01 8.01571597e-02 1.64004718e+02] [-3.13082184e-01 9.49458020e-01 -2.25613538e-02 -2.93726351e+01] [-8.31872269e-02 -3.75102764e-03 9.96526876e-01 -1.94082060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.276296757 meters 0.0746310565146538 Centerline is valid? [True, True] Translation: X:164.03, Y:-29.38, Z:-19.41 [[ 9.45918841e-01 3.14144525e-01 8.09367932e-02 1.64034586e+02] [-3.13340748e-01 9.49367514e-01 -2.27793732e-02 -2.93808702e+01] [-8.39947775e-02 -3.81335701e-03 9.96458898e-01 -1.94128410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.306296757 meters 0.07391132913753126 Centerline is valid? [True, True] Translation: X:164.06, Y:-29.39, Z:-19.41 [[ 9.45984681e-01 3.13862389e-01 8.12612154e-02 1.64064177e+02] [-3.13049576e-01 9.49460934e-01 -2.28888157e-02 -2.93929667e+01] [-8.43382878e-02 -3.78632009e-03 9.96429986e-01 -1.94144108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.336296757 meters 0.07391132913753126 Centerline is valid? [True, True] Translation: X:164.10, Y:-29.40, Z:-19.42 [[ 9.45900595e-01 3.14117046e-01 8.12560555e-02 1.64095181e+02] [-3.13303601e-01 9.49376700e-01 -2.29071165e-02 -2.94018051e+01] [-8.43381216e-02 -3.78995963e-03 9.96429986e-01 -1.94180291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.36629675700001 meters 0.07386774629106291 Centerline is valid? [True, True] Translation: X:164.13, Y:-29.41, Z:-19.42 [[ 9.45913091e-01 3.13905762e-01 8.19243361e-02 1.64125959e+02] [-3.13075604e-01 9.49446641e-01 -2.31244974e-02 -2.94117336e+01] [-8.50416987e-02 -3.77474615e-03 9.96370243e-01 -1.94222897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.39629675700002 meters 0.0758481348780795 Centerline is valid? [True, True] Translation: X:164.16, Y:-29.41, Z:-19.43 [[ 9.45633556e-01 3.14937061e-01 8.11900592e-02 1.64156554e+02] [-3.14125212e-01 9.49104834e-01 -2.29208545e-02 -2.94149824e+01] [-8.42765042e-02 -3.82911544e-03 9.96435050e-01 -1.94299792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.42629675700002 meters 0.07481232256151507 Centerline is valid? [True, True] Translation: X:164.19, Y:-29.43, Z:-19.43 [[ 9.45344916e-01 3.15951849e-01 8.06065727e-02 1.64186003e+02] [-3.15153497e-01 9.48767331e-01 -2.27777441e-02 -2.94274698e+01] [-8.36735532e-02 -3.87061870e-03 9.96485702e-01 -1.94317363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45629675700002 meters 0.0743651512061767 Centerline is valid? [True, True] Translation: X:164.22, Y:-29.44, Z:-19.43 [[ 9.44721487e-01 3.17892985e-01 8.02830092e-02 1.64216296e+02] [-3.17107007e-01 9.48118100e-01 -2.26983239e-02 -2.94392961e+01] [-8.33334121e-02 -4.01471050e-03 9.96513635e-01 -1.94338537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48629675700002 meters 0.07500091535517969 Centerline is valid? [True, True] Translation: X:164.25, Y:-29.45, Z:-19.44 [[ 9.44339656e-01 3.19004282e-01 8.03671675e-02 1.64246697e+02] [-3.18220521e-01 9.47744338e-01 -2.27237658e-02 -2.94469528e+01] [-8.34165065e-02 -4.11552878e-03 9.96506271e-01 -1.94377442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51629675700002 meters 0.0769096389538348 Centerline is valid? [True, True] Translation: X:164.28, Y:-29.45, Z:-19.44 [[ 9.43979915e-01 3.20616001e-01 7.81492169e-02 1.64276708e+02] [-3.19878636e-01 9.47200305e-01 -2.21188015e-02 -2.94510775e+01] [-8.11146037e-02 -4.11856045e-03 9.96696272e-01 -1.94441178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54629675700002 meters 0.07693282148907221 Centerline is valid? [True, True] Translation: X:164.31, Y:-29.46, Z:-19.45 [[ 9.43467274e-01 3.22054405e-01 7.84248930e-02 1.64306547e+02] [-3.21316371e-01 9.46711612e-01 -2.22016702e-02 -2.94622085e+01] [-8.13959026e-02 -4.25265274e-03 9.96672776e-01 -1.94476795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57629675700002 meters 0.07716157918792509 Centerline is valid? [True, True] Translation: X:164.34, Y:-29.47, Z:-19.45 [[ 9.43387549e-01 3.22305328e-01 7.83530975e-02 1.64337732e+02] [-3.21567929e-01 9.46626218e-01 -2.22006924e-02 -2.94716022e+01] [-8.13264978e-02 -4.25198655e-03 9.96678444e-01 -1.94517283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60629675700002 meters 0.0773283127505042 Centerline is valid? [True, True] Translation: X:164.37, Y:-29.48, Z:-19.46 [[ 9.43221765e-01 3.22517378e-01 7.94685013e-02 1.64368740e+02] [-3.21757210e-01 9.46553756e-01 -2.25451926e-02 -2.94807552e+01] [-8.24924248e-02 -4.30444685e-03 9.96582396e-01 -1.94558222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.63629675700003 meters 0.07750115782080669 Centerline is valid? [True, True] Translation: X:164.40, Y:-29.49, Z:-19.46 [[ 9.43469580e-01 3.21594638e-01 8.02623212e-02 1.64397744e+02] [-3.20815113e-01 9.46867869e-01 -2.27794147e-02 -2.94904865e+01] [-8.33235506e-02 -4.25768082e-03 9.96513451e-01 -1.94605626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.66629675700003 meters 0.07697551430180485 Centerline is valid? [True, True] Translation: X:164.43, Y:-29.50, Z:-19.46 [[ 9.44046980e-01 3.19687741e-01 8.10866641e-02 1.64426614e+02] [-3.18883438e-01 9.47514027e-01 -2.30330443e-02 -2.95022574e+01] [-8.41941335e-02 -4.11291827e-03 9.96440882e-01 -1.94636210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.69629675700003 meters 0.07682120141080875 Centerline is valid? [True, True] Translation: X:164.46, Y:-29.51, Z:-19.47 [[ 9.44346269e-01 3.18505280e-01 8.22466456e-02 1.64456635e+02] [-3.17671637e-01 9.47912449e-01 -2.33820375e-02 -2.95119776e+01] [-8.54099216e-02 -4.04668670e-03 9.96337679e-01 -1.94663020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.72629675700003 meters 0.07654559205498966 Centerline is valid? [True, True] Translation: X:164.49, Y:-29.52, Z:-19.47 [[ 9.44987825e-01 3.16330998e-01 8.32628975e-02 1.64485082e+02] [-3.15468073e-01 9.48640878e-01 -2.36723380e-02 -2.95230222e+01] [-8.64748825e-02 -3.89671469e-03 9.96246410e-01 -1.94697806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.75629675700003 meters 0.07644348447848141 Centerline is valid? [True, True] Translation: X:164.52, Y:-29.53, Z:-19.47 [[ 9.45216639e-01 3.15626642e-01 8.33386337e-02 1.64515385e+02] [-3.14758158e-01 9.48875764e-01 -2.37083683e-02 -2.95325146e+01] [-8.65610023e-02 -3.82197063e-03 9.96239221e-01 -1.94735083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.78629675700003 meters 0.07651424503568799 Centerline is valid? [True, True] Translation: X:164.54, Y:-29.54, Z:-19.48 [[ 9.45602051e-01 3.14141082e-01 8.45703314e-02 1.64544342e+02] [-3.13238617e-01 9.49369033e-01 -2.40833465e-02 -2.95400421e+01] [-8.78540223e-02 -3.71743181e-03 9.96126423e-01 -1.94770277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.81629675700003 meters 0.0760209418582575 Centerline is valid? [True, True] Translation: X:164.57, Y:-29.55, Z:-19.48 [[ 9.45839254e-01 3.13524624e-01 8.42046083e-02 1.64574547e+02] [-3.12627024e-01 9.49573098e-01 -2.39848824e-02 -2.95497066e+01] [-8.74782821e-02 -3.63879288e-03 9.96159781e-01 -1.94799484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.84629675700003 meters 0.07525576082114055 Centerline is valid? [True, True] Translation: X:164.60, Y:-29.56, Z:-19.48 [[ 9.46148677e-01 3.12388873e-01 8.49462943e-02 1.64603926e+02] [-3.11468930e-01 9.49947696e-01 -2.42173477e-02 -2.95621378e+01] [-8.82597665e-02 -3.54491993e-03 9.96091184e-01 -1.94826582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.87629675700003 meters 0.07422087752585872 Centerline is valid? [True, True] Translation: X:164.63, Y:-29.58, Z:-19.48 [[ 9.46489606e-01 3.11709417e-01 8.36341182e-02 1.64633765e+02] [-3.10813344e-01 9.50171364e-01 -2.38630205e-02 -2.95758763e+01] [-8.69050724e-02 -3.40849914e-03 9.96210766e-01 -1.94842273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.90629675700004 meters 0.07533203610931428 Centerline is valid? [True, True] Translation: X:164.66, Y:-29.58, Z:-19.49 [[ 9.46950775e-01 3.10375590e-01 8.33739974e-02 1.64663780e+02] [-3.09477585e-01 9.50608453e-01 -2.38158225e-02 -2.95808078e+01] [-8.66478767e-02 -3.24997180e-03 9.96233699e-01 -1.94926870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.93629675700004 meters 0.07412252129872417 Centerline is valid? [True, True] Translation: X:164.69, Y:-29.60, Z:-19.49 [[ 9.47031498e-01 3.10162466e-01 8.32501372e-02 1.64692664e+02] [-3.09264527e-01 9.50678161e-01 -2.38009798e-02 -2.95950600e+01] [-8.65262579e-02 -3.20603668e-03 9.96244412e-01 -1.94941113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.96629675700004 meters 0.07653022168305203 Centerline is valid? [True, True] Translation: X:164.72, Y:-29.60, Z:-19.51 [[ 9.47061419e-01 3.10578915e-01 8.13351521e-02 1.64723371e+02] [-3.09721364e-01 9.50542392e-01 -2.32773994e-02 -2.95956493e+01] [-8.45419795e-02 -3.14610729e-03 9.96414952e-01 -1.95060239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.99629675700004 meters 0.07474308636554283 Centerline is valid? [True, True] Translation: X:164.75, Y:-29.61, Z:-19.51 [[ 9.46892094e-01 3.11062754e-01 8.14575004e-02 1.64753671e+02] [-3.10203821e-01 9.50384029e-01 -2.33192449e-02 -2.96114912e+01] [-8.46696559e-02 -3.18761920e-03 9.96403979e-01 -1.95056013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.026296757 meters 0.0774150323972618 Centerline is valid? [True, True] Translation: X:164.78, Y:-29.61, Z:-19.52 [[ 9.46624876e-01 3.12304566e-01 7.97947448e-02 1.64784792e+02] [-3.11482737e-01 9.49976615e-01 -2.28677609e-02 -2.96116685e+01] [-8.29448478e-02 -3.20749420e-03 9.96548977e-01 -1.95166434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.056296757 meters 0.07566713361884503 Centerline is valid? [True, True] Translation: X:164.81, Y:-29.63, Z:-19.52 [[ 9.46369382e-01 3.13080865e-01 7.97832381e-02 1.64813845e+02] [-3.12260481e-01 9.49720886e-01 -2.28829853e-02 -2.96274589e+01] [-8.29360324e-02 -3.25739565e-03 9.96549549e-01 -1.95153453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.086296757 meters 0.07599123698144754 Centerline is valid? [True, True] Translation: X:164.84, Y:-29.64, Z:-19.52 [[ 9.45911637e-01 3.14615582e-01 7.91720368e-02 1.64844480e+02] [-3.13811021e-01 9.49213289e-01 -2.27326986e-02 -2.96365145e+01] [-8.23032106e-02 -3.34193358e-03 9.96601732e-01 -1.95192457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.11629675700001 meters 0.07627371770785654 Centerline is valid? [True, True] Translation: X:164.88, Y:-29.65, Z:-19.52 [[ 9.45597056e-01 3.15272687e-01 8.03077809e-02 1.64875448e+02] [-3.14447113e-01 9.48994863e-01 -2.30599837e-02 -2.96452160e+01] [-8.34818545e-02 -3.44709717e-03 9.96503335e-01 -1.95226696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.14629675700002 meters 0.07550131722955893 Centerline is valid? [True, True] Translation: X:164.90, Y:-29.66, Z:-19.52 [[ 9.45579547e-01 3.14446975e-01 8.36804668e-02 1.64904541e+02] [-3.13545215e-01 9.49268608e-01 -2.40522062e-02 -2.96563597e+01] [-8.69983836e-02 -3.49433573e-03 9.96202324e-01 -1.95239848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.17629675700002 meters 0.07585384093078472 Centerline is valid? [True, True] Translation: X:164.93, Y:-29.66, Z:-19.53 [[ 9.45355197e-01 3.14875843e-01 8.45976080e-02 1.64934561e+02] [-3.13954506e-01 9.49126201e-01 -2.43315261e-02 -2.96636110e+01] [-8.79552160e-02 -3.55786554e-03 9.96118076e-01 -1.95275395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20629675700002 meters 0.07481203093161941 Centerline is valid? [True, True] Translation: X:164.96, Y:-29.68, Z:-19.53 [[ 9.45259016e-01 3.14832664e-01 8.58241596e-02 1.64964092e+02] [-3.13882399e-01 9.49140416e-01 -2.47044378e-02 -2.96761573e+01] [-8.92369425e-02 -3.58660052e-03 9.96003968e-01 -1.95277072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23629675700002 meters 0.07473251065520439 Centerline is valid? [True, True] Translation: X:164.99, Y:-29.68, Z:-19.53 [[ 9.45183113e-01 3.14651285e-01 8.73123855e-02 1.64994478e+02] [-3.13664843e-01 9.49200473e-01 -2.51560594e-02 -2.96848897e+01] [-9.07923441e-02 -3.60974325e-03 9.95863304e-01 -1.95299302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26629675700002 meters 0.0746436852461989 Centerline is valid? [True, True] Translation: X:165.02, Y:-29.69, Z:-19.53 [[ 9.45598826e-01 3.13547341e-01 8.67809052e-02 1.65024169e+02] [-3.12566193e-01 9.49566264e-01 -2.50256845e-02 -2.96940380e+01] [-9.02509568e-02 -3.46051929e-03 9.95913043e-01 -1.95337730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29629675700002 meters 0.07404868353716097 Centerline is valid? [True, True] Translation: X:165.05, Y:-29.71, Z:-19.54 [[ 9.45864548e-01 3.12720759e-01 8.68676202e-02 1.65054552e+02] [-3.11732315e-01 9.49839144e-01 -2.50711685e-02 -2.97051438e+01] [-9.03505408e-02 -3.36551494e-03 9.95904339e-01 -1.95357472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32629675700002 meters 0.0737401836771761 Centerline is valid? [True, True] Translation: X:165.09, Y:-29.71, Z:-19.54 [[ 9.46836214e-01 3.10119766e-01 8.55973987e-02 1.65085703e+02] [-3.09147165e-01 9.50692615e-01 -2.47301922e-02 -2.97142964e+01] [-8.90461362e-02 -3.04675163e-03 9.96022843e-01 -1.95398131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35629675700002 meters 0.07330548764204751 Centerline is valid? [True, True] Translation: X:165.12, Y:-29.72, Z:-19.54 [[ 9.47305020e-01 3.08744303e-01 8.53823994e-02 1.65116182e+02] [-3.07770637e-01 9.51140637e-01 -2.46723333e-02 -2.97247724e+01] [-8.88281121e-02 -2.90597028e-03 9.96042731e-01 -1.95431136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.38629675700003 meters 0.07281157046615888 Centerline is valid? [True, True] Translation: X:165.14, Y:-29.73, Z:-19.55 [[ 9.48553947e-01 3.04555437e-01 8.65528438e-02 1.65144988e+02] [-3.03535056e-01 9.52491271e-01 -2.50369527e-02 -2.97333681e+01] [-9.00659682e-02 -2.52292202e-03 9.95932606e-01 -1.95462574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.41629675700003 meters 0.07250243986781792 Centerline is valid? [True, True] Translation: X:165.18, Y:-29.74, Z:-19.55 [[ 9.48973916e-01 3.03144240e-01 8.69026824e-02 1.65175116e+02] [-3.02108975e-01 9.52941683e-01 -2.51458821e-02 -2.97431153e+01] [-9.04360177e-02 -2.39129414e-03 9.95899397e-01 -1.95489971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.44629675700003 meters 0.07189805580184726 Centerline is valid? [True, True] Translation: X:165.20, Y:-29.75, Z:-19.55 [[ 9.50398013e-01 2.98655603e-01 8.68817994e-02 1.65203936e+02] [-2.97599795e-01 9.54358984e-01 -2.51652730e-02 -2.97520175e+01] [-9.04321756e-02 -1.93898023e-03 9.95900729e-01 -1.95529897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.47629675700003 meters 0.07158547110747501 Centerline is valid? [True, True] Translation: X:165.23, Y:-29.76, Z:-19.56 [[ 9.51030537e-01 2.96951515e-01 8.57946143e-02 1.65234336e+02] [-2.95914457e-01 9.54890959e-01 -2.48574159e-02 -2.97618683e+01] [-8.93059488e-02 -1.74770511e-03 9.96002707e-01 -1.95567723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.50629675700003 meters 0.07091410789333971 Centerline is valid? [True, True] Translation: X:165.26, Y:-29.77, Z:-19.56 [[ 9.52546486e-01 2.92423369e-01 8.45207990e-02 1.65263390e+02] [-2.91397182e-01 9.56288100e-01 -2.45102549e-02 -2.97717193e+01] [-8.79936056e-02 -1.28196549e-03 9.96120215e-01 -1.95601316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.53629675700003 meters 0.07066773079487818 Centerline is valid? [True, True] Translation: X:165.29, Y:-29.78, Z:-19.57 [[ 9.53109734e-01 2.90461723e-01 8.49342210e-02 1.65293916e+02] [-2.89415896e-01 9.56885994e-01 -2.46502130e-02 -2.97813429e+01] [-8.84323098e-02 -1.08695571e-03 9.96081596e-01 -1.95650450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.56629675700003 meters 0.07057006518886325 Centerline is valid? [True, True] Translation: X:165.32, Y:-29.79, Z:-19.57 [[ 9.53683714e-01 2.88737333e-01 8.43689834e-02 1.65323435e+02] [-2.87696763e-01 9.57407929e-01 -2.45077550e-02 -2.97906963e+01] [-8.78518375e-02 -9.00036603e-04 9.96133146e-01 -1.95692562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.59629675700003 meters 0.07008338425765298 Centerline is valid? [True, True] Translation: X:165.35, Y:-29.80, Z:-19.57 [[ 9.54455800e-01 2.86351229e-01 8.37681309e-02 1.65354175e+02] [-2.85314621e-01 9.58124492e-01 -2.43521114e-02 -2.98007939e+01] [-8.72335549e-02 -6.57258557e-04 9.96187671e-01 -1.95725069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.62629675700003 meters 0.06965500564609531 Centerline is valid? [True, True] Translation: X:165.39, Y:-29.81, Z:-19.57 [[ 9.55109228e-01 2.84330640e-01 8.32012643e-02 1.65385875e+02] [-2.83298649e-01 9.58726178e-01 -2.42072563e-02 -2.98104404e+01] [-8.66500948e-02 -4.50231890e-04 9.96238706e-01 -1.95749608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.65629675700004 meters 0.0694049783456169 Centerline is valid? [True, True] Translation: X:165.42, Y:-29.82, Z:-19.58 [[ 9.55237043e-01 2.83526234e-01 8.44693238e-02 1.65416567e+02] [-2.82457044e-01 9.58964414e-01 -2.46022657e-02 -2.98192139e+01] [-8.79784633e-02 -3.57960012e-04 9.96122313e-01 -1.95776052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.68629675700004 meters 0.06914828103081865 Centerline is valid? [True, True] Translation: X:165.45, Y:-29.83, Z:-19.58 [[ 9.55210253e-01 2.83663480e-01 8.43113474e-02 1.65447751e+02] [-2.82596939e-01 9.58923828e-01 -2.45776791e-02 -2.98257441e+01] [-8.78199500e-02 -3.49277598e-04 9.96136303e-01 -1.95812511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.71629675700004 meters 0.06914005380230819 Centerline is valid? [True, True] Translation: X:165.48, Y:-29.83, Z:-19.58 [[ 9.55133316e-01 2.84045545e-01 8.38956333e-02 1.65480249e+02] [-2.82988995e-01 9.58810721e-01 -2.44791807e-02 -2.98330350e+01] [-8.73932348e-02 -3.60659909e-04 9.96173826e-01 -1.95839747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.74629675700004 meters 0.06938213936674863 Centerline is valid? [True, True] Translation: X:165.51, Y:-29.84, Z:-19.59 [[ 9.54745054e-01 2.85665905e-01 8.28062283e-02 1.65510991e+02] [-2.84640530e-01 9.58329151e-01 -2.41869050e-02 -2.98390289e+01] [-8.62649966e-02 -4.77680786e-04 9.96272113e-01 -1.95877342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.776296757 meters 0.06977748094901556 Centerline is valid? [True, True] Translation: X:165.54, Y:-29.84, Z:-19.59 [[ 9.54270971e-01 2.87945758e-01 8.03377548e-02 1.65541364e+02] [-2.86987002e-01 9.57646504e-01 -2.34868811e-02 -2.98425072e+01] [-8.36981178e-02 -6.43042565e-04 9.96490949e-01 -1.95926074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.806296757 meters 0.07002745205382173 Centerline is valid? [True, True] Translation: X:165.57, Y:-29.85, Z:-19.60 [[ 9.53770011e-01 2.89788383e-01 7.96583928e-02 1.65572934e+02] [-2.88851519e-01 9.57090418e-01 -2.32965902e-02 -2.98494305e+01] [-8.29913657e-02 -7.89858624e-04 9.96549953e-01 -1.95952742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.836296757 meters 0.06998916743747466 Centerline is valid? [True, True] Translation: X:165.60, Y:-29.85, Z:-19.60 [[ 9.52909905e-01 2.93237116e-01 7.72962219e-02 1.65604911e+02] [-2.92364438e-01 9.56039185e-01 -2.26298797e-02 -2.98549007e+01] [-8.05341376e-02 -1.03442999e-03 9.96751314e-01 -1.95964696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.86629675700001 meters 0.07070593018826934 Centerline is valid? [True, True] Translation: X:165.64, Y:-29.86, Z:-19.60 [[ 9.51985566e-01 2.96507996e-01 7.62003282e-02 1.65635959e+02] [-2.95670051e-01 9.55029501e-01 -2.23130626e-02 -2.98571721e+01] [-7.93895629e-02 -1.28844134e-03 9.96842835e-01 -1.96043637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.89629675700002 meters 0.07029670490940271 Centerline is valid? [True, True] Translation: X:165.67, Y:-29.87, Z:-19.60 [[ 9.51516545e-01 2.98122528e-01 7.57576558e-02 1.65666591e+02] [-2.97298951e-01 9.54526570e-01 -2.21892151e-02 -2.98667196e+01] [-7.89278002e-02 -1.40926633e-03 9.96879339e-01 -1.96021141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.92629675700002 meters 0.07038270373325616 Centerline is valid? [True, True] Translation: X:165.70, Y:-29.87, Z:-19.61 [[ 9.51000770e-01 2.99856856e-01 7.53883341e-02 1.65696630e+02] [-2.99044980e-01 9.53982989e-01 -2.21033383e-02 -2.98723671e+01] [-7.85470258e-02 -1.52421108e-03 9.96909244e-01 -1.96063209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95629675700002 meters 0.0705354501566344 Centerline is valid? [True, True] Translation: X:165.73, Y:-29.88, Z:-19.61 [[ 9.49777476e-01 3.03570067e-01 7.59470955e-02 1.65728717e+02] [-3.02757470e-01 9.52807342e-01 -2.22729156e-02 -2.98777185e+01] [-7.91243407e-02 -1.83923697e-03 9.96863058e-01 -1.96092961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98629675700002 meters 0.07060611416647797 Centerline is valid? [True, True] Translation: X:165.76, Y:-29.88, Z:-19.61 [[ 9.49367698e-01 3.05211436e-01 7.44778709e-02 1.65759621e+02] [-3.04433513e-01 9.52282678e-01 -2.18617856e-02 -2.98849312e+01] [-7.75964533e-02 -1.91868683e-03 9.96983003e-01 -1.96116231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01629675700002 meters 0.0708813313752524 Centerline is valid? [True, True] Translation: X:165.79, Y:-29.89, Z:-19.62 [[ 9.48883528e-01 3.06917458e-01 7.36323546e-02 1.65790205e+02] [-3.06160570e-01 9.51734006e-01 -2.16353234e-02 -2.98888463e+01] [-7.67186743e-02 -2.01392161e-03 9.97050746e-01 -1.96165928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04629675700002 meters 0.07114648545442866 Centerline is valid? [True, True] Translation: X:165.82, Y:-29.90, Z:-19.62 [[ 9.48666635e-01 3.07775833e-01 7.28399012e-02 1.65820659e+02] [-3.07037248e-01 9.51456679e-01 -2.14083164e-02 -2.98962522e+01] [-7.58929729e-02 -2.05520731e-03 9.97113851e-01 -1.96206420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07629675700002 meters 0.07128731862891936 Centerline is valid? [True, True] Translation: X:165.85, Y:-29.91, Z:-19.62 [[ 9.48778476e-01 3.07753655e-01 7.14639146e-02 1.65850558e+02] [-3.07041426e-01 9.51463974e-01 -2.10206698e-02 -2.99051276e+01] [-7.44645282e-02 -1.99842325e-03 9.97221661e-01 -1.96239901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10629675700002 meters 0.07122876552334713 Centerline is valid? [True, True] Translation: X:165.88, Y:-29.91, Z:-19.63 [[ 9.48828334e-01 3.07571736e-01 7.15850469e-02 1.65881444e+02] [-3.06855332e-01 9.51522853e-01 -2.10728640e-02 -2.99141311e+01] [-7.45962254e-02 -1.97172294e-03 9.97211871e-01 -1.96275631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.13629675700003 meters 0.0705939416011574 Centerline is valid? [True, True] Translation: X:165.91, Y:-29.93, Z:-19.63 [[ 9.49025551e-01 3.06967871e-01 7.15627674e-02 1.65911662e+02] [-3.06248861e-01 9.51717968e-01 -2.10842088e-02 -2.99254138e+01] [-7.45797463e-02 -1.90656313e-03 9.97213230e-01 -1.96264161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.16629675700003 meters 0.07121003836049201 Centerline is valid? [True, True] Translation: X:165.94, Y:-29.93, Z:-19.63 [[ 9.48886373e-01 3.07127151e-01 7.27156382e-02 1.65942500e+02] [-3.06383663e-01 9.51666531e-01 -2.14444642e-02 -2.99296252e+01] [-7.57872164e-02 -1.93052377e-03 9.97122144e-01 -1.96338729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.19629675700003 meters 0.07135692337867734 Centerline is valid? [True, True] Translation: X:165.97, Y:-29.94, Z:-19.64 [[ 9.48786318e-01 3.07478577e-01 7.25358358e-02 1.65973376e+02] [-3.06738497e-01 9.51553031e-01 -2.14084915e-02 -2.99375671e+01] [-7.56043469e-02 -1.93744946e-03 9.97136013e-01 -1.96375715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.22629675700003 meters 0.07135692337867734 Centerline is valid? [True, True] Translation: X:166.00, Y:-29.95, Z:-19.64 [[ 9.48705956e-01 3.07727646e-01 7.25307188e-02 1.66004260e+02] [-3.06986969e-01 9.51472509e-01 -2.14258101e-02 -2.99467933e+01] [-7.56042991e-02 -1.93919187e-03 9.97136014e-01 -1.96411893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.25629675700003 meters 0.07078251351031424 Centerline is valid? [True, True] Translation: X:166.04, Y:-29.96, Z:-19.64 [[ 9.48584778e-01 3.08108009e-01 7.25008548e-02 1.66035028e+02] [-3.07367523e-01 9.51349386e-01 -2.14371483e-02 -2.99578315e+01] [-7.55786008e-02 -1.94945563e-03 9.97137942e-01 -1.96414449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.28629675700003 meters 0.07082380972810953 Centerline is valid? [True, True] Translation: X:166.07, Y:-29.97, Z:-19.64 [[ 9.47952245e-01 3.10295926e-01 7.14351388e-02 1.66066432e+02] [-3.09581119e-01 9.50637772e-01 -2.11508079e-02 -2.99653334e+01] [-7.44719507e-02 -2.06501441e-03 9.97220971e-01 -1.96442986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.31629675700003 meters 0.07117367003101191 Centerline is valid? [True, True] Translation: X:166.10, Y:-29.97, Z:-19.65 [[ 9.47780238e-01 3.10953416e-01 7.08561492e-02 1.66095963e+02] [-3.10252045e-01 9.50422834e-01 -2.09787063e-02 -2.99731006e+01] [-7.38667025e-02 -2.10006191e-03 9.97265912e-01 -1.96483215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.34629675700003 meters 0.07109766806035797 Centerline is valid? [True, True] Translation: X:166.13, Y:-29.98, Z:-19.65 [[ 9.47245066e-01 3.12879247e-01 6.95223798e-02 1.66126980e+02] [-3.12207612e-01 9.49790396e-01 -2.06060937e-02 -2.99826887e+01] [-7.24789077e-02 -2.18639555e-03 9.97367549e-01 -1.96500549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.37629675700003 meters 0.07122499044786036 Centerline is valid? [True, True] Translation: X:166.16, Y:-29.99, Z:-19.66 [[ 9.47082312e-01 3.13645100e-01 6.82777088e-02 1.66157688e+02] [-3.12998949e-01 9.49537736e-01 -2.02421812e-02 -2.99904357e+01] [-7.11811220e-02 -2.19983935e-03 9.97460981e-01 -1.96550192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.40629675700004 meters 0.07148112968465563 Centerline is valid? [True, True] Translation: X:166.19, Y:-30.00, Z:-19.66 [[ 9.46570640e-01 3.15469259e-01 6.69564721e-02 1.66188658e+02] [-3.14852098e-01 9.48933041e-01 -1.98554643e-02 -2.99980263e+01] [-6.98009973e-02 -2.28678615e-03 9.97558315e-01 -1.96596851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.43629675700004 meters 0.07197347108679801 Centerline is valid? [True, True] Translation: X:166.22, Y:-30.01, Z:-19.66 [[ 9.45971514e-01 3.17132330e-01 6.75646333e-02 1.66218737e+02] [-3.16507963e-01 9.48378186e-01 -2.00381037e-02 -3.00060873e+01] [-7.04315549e-02 -2.42926911e-03 9.97513656e-01 -1.96645824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.46629675700004 meters 0.07254521078416165 Centerline is valid? [True, True] Translation: X:166.25, Y:-30.01, Z:-19.67 [[ 9.45081926e-01 3.19695538e-01 6.79331795e-02 1.66248335e+02] [-3.19070513e-01 9.47516676e-01 -2.01533238e-02 -3.00138176e+01] [-7.08107482e-02 -2.62893232e-03 9.97486304e-01 -1.96687250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.49629675700004 meters 0.07222424086300318 Centerline is valid? [True, True] Translation: X:166.28, Y:-30.02, Z:-19.67 [[ 9.44632543e-01 3.21028916e-01 6.78954666e-02 1.66278911e+02] [-3.20406930e-01 9.47065508e-01 -2.01574615e-02 -3.00242299e+01] [-7.07725825e-02 -2.71278387e-03 9.97488788e-01 -1.96706984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.526296757 meters 0.07194904515797604 Centerline is valid? [True, True] Translation: X:166.31, Y:-30.04, Z:-19.67 [[ 9.44172026e-01 3.22282235e-01 6.83618710e-02 1.66309467e+02] [-3.21653210e-01 9.46639479e-01 -2.03201685e-02 -3.00351555e+01] [-7.12628753e-02 -2.80308052e-03 9.97453631e-01 -1.96714277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.556296757 meters 0.07241316503074434 Centerline is valid? [True, True] Translation: X:166.34, Y:-30.04, Z:-19.67 [[ 9.43428205e-01 3.24436213e-01 6.84424218e-02 1.66340338e+02] [-3.23810824e-01 9.45902938e-01 -2.03514469e-02 -3.00436619e+01] [-7.13426343e-02 -2.96226800e-03 9.97447469e-01 -1.96746990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.586296757 meters 0.07294254417639812 Centerline is valid? [True, True] Translation: X:166.37, Y:-30.05, Z:-19.68 [[ 9.43096787e-01 3.25383717e-01 6.85119503e-02 1.66369988e+02] [-3.24759631e-01 9.45577182e-01 -2.03709440e-02 -3.00525268e+01] [-7.14117104e-02 -3.03814387e-03 9.97442298e-01 -1.96790364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.61629675700001 meters 0.0731390999986324 Centerline is valid? [True, True] Translation: X:166.40, Y:-30.06, Z:-19.68 [[ 9.42917862e-01 3.25913876e-01 6.84547326e-02 1.66400058e+02] [-3.25291063e-01 9.45394510e-01 -2.03701902e-02 -3.00624696e+01] [-7.13556561e-02 -3.06029649e-03 9.97446242e-01 -1.96832856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.64629675700002 meters 0.07289534642709583 Centerline is valid? [True, True] Translation: X:166.43, Y:-30.07, Z:-19.69 [[ 9.43074901e-01 3.25541388e-01 6.80627420e-02 1.66430018e+02] [-3.24923434e-01 9.45523041e-01 -2.02716922e-02 -3.00734655e+01] [-7.09541656e-02 -2.99745575e-03 9.97475073e-01 -1.96869505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.67629675700002 meters 0.07311935000039374 Centerline is valid? [True, True] Translation: X:166.46, Y:-30.08, Z:-19.69 [[ 9.43487220e-01 3.24318607e-01 6.81858228e-02 1.66458891e+02] [-3.23693863e-01 9.45943484e-01 -2.03275505e-02 -3.00841730e+01] [-7.10925376e-02 -2.89254826e-03 9.97465530e-01 -1.96923579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70629675700002 meters 0.07296038185342621 Centerline is valid? [True, True] Translation: X:166.49, Y:-30.10, Z:-19.70 [[ 9.43901277e-01 3.22994120e-01 6.87399345e-02 1.66488882e+02] [-3.22353956e-01 9.46396850e-01 -2.05165641e-02 -3.00951616e+01] [-7.16819870e-02 -2.79297879e-03 9.97423627e-01 -1.96953391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73629675700002 meters 0.07311033203874283 Centerline is valid? [True, True] Translation: X:166.52, Y:-30.11, Z:-19.70 [[ 9.44385849e-01 3.21148768e-01 7.07024587e-02 1.66516878e+02] [-3.20466143e-01 9.47024833e-01 -2.11048949e-02 -3.01062114e+01] [-7.37347952e-02 -2.72658020e-03 9.97274158e-01 -1.96994372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76629675700002 meters 0.07310753195866099 Centerline is valid? [True, True] Translation: X:166.55, Y:-30.12, Z:-19.70 [[ 9.44568208e-01 3.20639548e-01 7.05774848e-02 1.66547247e+02] [-3.19957297e-01 9.47197514e-01 -2.10760030e-02 -3.01180628e+01] [-7.36086182e-02 -2.67405895e-03 9.97283621e-01 -1.97025415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79629675700002 meters 0.07321168007570943 Centerline is valid? [True, True] Translation: X:166.58, Y:-30.13, Z:-19.71 [[ 9.44266889e-01 3.21358027e-01 7.13376508e-02 1.66577764e+02] [-3.20662961e-01 9.46953752e-01 -2.13039290e-02 -3.01270546e+01] [-7.43996447e-02 -2.75874757e-03 9.97224690e-01 -1.97070082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82629675700002 meters 0.07366574931284853 Centerline is valid? [True, True] Translation: X:166.61, Y:-30.13, Z:-19.71 [[ 9.43997247e-01 3.22130471e-01 7.14223927e-02 1.66608216e+02] [-3.21434581e-01 9.46691126e-01 -2.13476285e-02 -3.01348827e+01] [-7.44916670e-02 -2.80552433e-03 9.97217690e-01 -1.97114907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85629675700002 meters 0.07411049639545778 Centerline is valid? [True, True] Translation: X:166.64, Y:-30.14, Z:-19.72 [[ 9.43799485e-01 3.22774068e-01 7.11296936e-02 1.66638641e+02] [-3.22084352e-01 9.46471820e-01 -2.12782364e-02 -3.01434545e+01] [-7.41903135e-02 -2.82737270e-03 9.97240093e-01 -1.97163160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.88629675700003 meters 0.07394645706078208 Centerline is valid? [True, True] Translation: X:166.67, Y:-30.15, Z:-19.72 [[ 9.43750723e-01 3.22916498e-01 7.11302212e-02 1.66669000e+02] [-3.22225928e-01 9.46423250e-01 -2.12951559e-02 -3.01544231e+01] [-7.41958523e-02 -2.82268281e-03 9.97239694e-01 -1.97199521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.91629675700003 meters 0.07483333079920425 Centerline is valid? [True, True] Translation: X:166.70, Y:-30.16, Z:-19.73 [[ 9.43440628e-01 3.23957483e-01 7.05076629e-02 1.66698006e+02] [-3.23279870e-01 9.46067337e-01 -2.11357140e-02 -3.01625338e+01] [-7.35520696e-02 -2.85341687e-03 9.97287296e-01 -1.97263801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.94629675700003 meters 0.07532730339932238 Centerline is valid? [True, True] Translation: X:166.73, Y:-30.17, Z:-19.73 [[ 9.43014673e-01 3.25038757e-01 7.12259319e-02 1.66728221e+02] [-3.24350094e-01 9.45696049e-01 -2.13541665e-02 -3.01710363e+01] [-7.42990141e-02 -2.96484537e-03 9.97231601e-01 -1.97306311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.97629675700003 meters 0.07474750968896919 Centerline is valid? [True, True] Translation: X:166.76, Y:-30.18, Z:-19.73 [[ 9.42890050e-01 3.25378712e-01 7.13235392e-02 1.66759121e+02] [-3.24687768e-01 9.45579094e-01 -2.14016460e-02 -3.01821125e+01] [-7.44056876e-02 -2.97848170e-03 9.97223607e-01 -1.97322146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.00629675700003 meters 0.07530606906530603 Centerline is valid? [True, True] Translation: X:166.79, Y:-30.19, Z:-19.74 [[ 9.42593281e-01 3.25459714e-01 7.47922542e-02 1.66788606e+02] [-3.24697765e-01 9.45550818e-01 -2.24724746e-02 -3.01896464e+01] [-7.80337622e-02 -3.10247421e-03 9.96945890e-01 -1.97356945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.03629675700003 meters 0.07508867632111918 Centerline is valid? [True, True] Translation: X:166.82, Y:-30.20, Z:-19.74 [[ 9.42350622e-01 3.25916648e-01 7.58527697e-02 1.66819238e+02] [-3.25134359e-01 9.45393143e-01 -2.27915146e-02 -3.02000139e+01] [-7.91388224e-02 -3.18474364e-03 9.96858518e-01 -1.97379128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.06629675700003 meters 0.07514255366188723 Centerline is valid? [True, True] Translation: X:166.85, Y:-30.21, Z:-19.74 [[ 9.42490820e-01 3.25129869e-01 7.74701460e-02 1.66848057e+02] [-3.24309136e-01 9.45664090e-01 -2.33026368e-02 -3.02078583e+01] [-8.08371184e-02 -3.16175484e-03 9.96722310e-01 -1.97410935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.09629675700003 meters 0.07511815410783682 Centerline is valid? [True, True] Translation: X:166.88, Y:-30.22, Z:-19.74 [[ 9.42249007e-01 3.25646166e-01 7.82392695e-02 1.66878272e+02] [-3.24810652e-01 9.45486172e-01 -2.35359181e-02 -3.02167580e+01] [-8.16385289e-02 -3.23625271e-03 9.96656750e-01 -1.97442452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.12629675700003 meters 0.07379604739249862 Centerline is valid? [True, True] Translation: X:166.91, Y:-30.23, Z:-19.74 [[ 9.42112267e-01 3.25757016e-01 7.94156305e-02 1.66908384e+02] [-3.24894925e-01 9.45447847e-01 -2.39093417e-02 -3.02295537e+01] [-8.28719727e-02 -3.27645114e-03 9.96554816e-01 -1.97444565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.15629675700004 meters 0.07504409285427305 Centerline is valid? [True, True] Translation: X:166.94, Y:-30.23, Z:-19.75 [[ 9.41995081e-01 3.26135402e-01 7.92525487e-02 1.66939669e+02] [-3.25276519e-01 9.45317363e-01 -2.38803330e-02 -3.02336917e+01] [-8.27070323e-02 -3.28383696e-03 9.96568494e-01 -1.97509152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.18629675700004 meters 0.07364669334803936 Centerline is valid? [True, True] Translation: X:166.97, Y:-30.25, Z:-19.75 [[ 9.41905249e-01 3.26111913e-01 8.04084674e-02 1.66969510e+02] [-3.25225740e-01 9.45325381e-01 -2.42516271e-02 -3.02468077e+01] [-8.39209096e-02 -3.30816850e-03 9.96466927e-01 -1.97521173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.21629675700004 meters 0.07300894096859056 Centerline is valid? [True, True] Translation: X:167.00, Y:-30.26, Z:-19.75 [[ 9.41974189e-01 3.25859021e-01 8.06258342e-02 1.66999770e+02] [-3.24965360e-01 9.45412700e-01 -2.43380593e-02 -3.02587508e+01] [-8.41554639e-02 -3.27477951e-03 9.96447256e-01 -1.97542708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.24629675700004 meters 0.07366728109945082 Centerline is valid? [True, True] Translation: X:167.03, Y:-30.26, Z:-19.76 [[ 9.42051767e-01 3.25551431e-01 8.09613092e-02 1.67029768e+02] [-3.24647259e-01 9.45518784e-01 -2.44619131e-02 -3.02642141e+01] [-8.45140495e-02 -3.23947866e-03 9.96417022e-01 -1.97595747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.276296757 meters 0.07281395662973195 Centerline is valid? [True, True] Translation: X:167.06, Y:-30.27, Z:-19.76 [[ 9.41897715e-01 3.25587620e-01 8.25917402e-02 1.67060298e+02] [-3.24644965e-01 9.45506153e-01 -2.49752196e-02 -3.02749842e+01] [-8.62226208e-02 -3.28889029e-03 9.96270467e-01 -1.97607615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.306296757 meters 0.07316077466301603 Centerline is valid? [True, True] Translation: X:167.09, Y:-30.28, Z:-19.77 [[ 9.41893067e-01 3.25263674e-01 8.39106265e-02 1.67090582e+02] [-3.24287269e-01 9.45617641e-01 -2.53977171e-02 -3.02803027e+01] [-8.76083235e-02 -3.28921424e-03 9.96149568e-01 -1.97659723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.336296757 meters 0.07320227000160752 Centerline is valid? [True, True] Translation: X:167.12, Y:-30.29, Z:-19.77 [[ 9.41530851e-01 3.26053910e-01 8.49029086e-02 1.67122566e+02] [-3.25055622e-01 9.45345122e-01 -2.57185262e-02 -3.02860135e+01] [-8.86481765e-02 -3.38338191e-03 9.96057254e-01 -1.97707430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.36629675700001 meters 0.07346076970216428 Centerline is valid? [True, True] Translation: X:167.15, Y:-30.29, Z:-19.78 [[ 9.41306843e-01 3.26790080e-01 8.45557291e-02 1.67153477e+02] [-3.25800602e-01 9.45090784e-01 -2.56393859e-02 -3.02931143e+01] [-8.82915373e-02 -3.41377808e-03 9.96088827e-01 -1.97750802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.39629675700002 meters 0.07342390850796095 Centerline is valid? [True, True] Translation: X:167.18, Y:-30.30, Z:-19.78 [[ 9.41022782e-01 3.27615587e-01 8.45230790e-02 1.67184116e+02] [-3.26628218e-01 9.44804739e-01 -2.56517401e-02 -3.02998534e+01] [-8.82617155e-02 -3.46875091e-03 9.96091280e-01 -1.97792948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.42629675700002 meters 0.07362404887229644 Centerline is valid? [True, True] Translation: X:167.22, Y:-30.31, Z:-19.78 [[ 9.40796367e-01 3.28248302e-01 8.45886993e-02 1.67215353e+02] [-3.27260154e-01 9.44584946e-01 -2.56918618e-02 -3.03076628e+01] [-8.83345220e-02 -3.51170048e-03 9.96084675e-01 -1.97832032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.45629675700002 meters 0.07354505681546361 Centerline is valid? [True, True] Translation: X:167.25, Y:-30.31, Z:-19.79 [[ 9.40721190e-01 3.28308657e-01 8.51884332e-02 1.67246463e+02] [-3.27304673e-01 9.44563935e-01 -2.58964150e-02 -3.03145021e+01] [-8.89679388e-02 -3.52126600e-03 9.96028266e-01 -1.97866531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48629675700002 meters 0.07368633418993326 Centerline is valid? [True, True] Translation: X:167.28, Y:-30.32, Z:-19.79 [[ 9.40471469e-01 3.28603655e-01 8.67931633e-02 1.67277092e+02] [-3.27560547e-01 9.44461073e-01 -2.64077463e-02 -3.03204270e+01] [-9.06504462e-02 -3.59428410e-03 9.95876286e-01 -1.97905472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51629675700002 meters 0.07353003787629425 Centerline is valid? [True, True] Translation: X:167.31, Y:-30.33, Z:-19.79 [[ 9.40415988e-01 3.28534370e-01 8.76523677e-02 1.67307920e+02] [-3.27468247e-01 9.44485141e-01 -2.66901725e-02 -3.03297013e+01] [-9.15549979e-02 -3.60350225e-03 9.95793501e-01 -1.97945874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54629675700002 meters 0.07364854449409354 Centerline is valid? [True, True] Translation: X:167.34, Y:-30.34, Z:-19.80 [[ 9.41062400e-01 3.26825808e-01 8.71002281e-02 1.67336975e+02] [-3.25763745e-01 9.45078500e-01 -2.65445057e-02 -3.03383996e+01] [-9.09919825e-02 -3.39406027e-03 9.95845841e-01 -1.98005359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57629675700002 meters 0.07274314354779841 Centerline is valid? [True, True] Translation: X:167.37, Y:-30.35, Z:-19.80 [[ 9.41287489e-01 3.26351944e-01 8.64423056e-02 1.67366453e+02] [-3.25302106e-01 9.45242557e-01 -2.63637568e-02 -3.03517134e+01] [-9.03128093e-02 -3.30398964e-03 9.95907968e-01 -1.98027277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60629675700002 meters 0.07269936321370263 Centerline is valid? [True, True] Translation: X:167.40, Y:-30.36, Z:-19.81 [[ 9.41714391e-01 3.25140249e-01 8.63586903e-02 1.67396770e+02] [-3.24085321e-01 9.45660517e-01 -2.63608136e-02 -3.03621200e+01] [-9.02369652e-02 -3.16322629e-03 9.95915300e-01 -1.98069094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.63629675700003 meters 0.07234893430638956 Centerline is valid? [True, True] Translation: X:167.43, Y:-30.37, Z:-19.81 [[ 9.42562712e-01 3.22358529e-01 8.75243556e-02 1.67425232e+02] [-3.21260547e-01 9.46613174e-01 -2.67424744e-02 -3.03726652e+01] [-9.14723728e-02 -2.91166321e-03 9.95803358e-01 -1.98100350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.66629675700003 meters 0.0720800010614169 Centerline is valid? [True, True] Translation: X:167.45, Y:-30.38, Z:-19.81 [[ 9.43592806e-01 3.18290519e-01 9.12346515e-02 1.67453961e+02] [-3.17077378e-01 9.47989612e-01 -2.78860391e-02 -3.03837490e+01] [-9.53653638e-02 -2.61537821e-03 9.95438902e-01 -1.98114283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.69629675700003 meters 0.07178089605414216 Centerline is valid? [True, True] Translation: X:167.48, Y:-30.39, Z:-19.81 [[ 9.43999418e-01 3.17167805e-01 9.09377976e-02 1.67483757e+02] [-3.15956052e-01 9.48366190e-01 -2.78090552e-02 -3.03949814e+01] [-9.50624696e-02 -2.48061560e-03 9.95468218e-01 -1.98140328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.72629675700003 meters 0.07174056680053346 Centerline is valid? [True, True] Translation: X:167.51, Y:-30.41, Z:-19.82 [[ 9.44674684e-01 3.14273662e-01 9.39244706e-02 1.67512089e+02] [-3.12963936e-01 9.49329797e-01 -2.87491089e-02 -3.04054181e+01] [-9.82003864e-02 -2.23641660e-03 9.95164149e-01 -1.98167859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.75629675700003 meters 0.07123903361591742 Centerline is valid? [True, True] Translation: X:167.54, Y:-30.42, Z:-19.82 [[ 9.44901867e-01 3.13557649e-01 9.40322414e-02 1.67541771e+02] [-3.12240529e-01 9.49566718e-01 -2.87906420e-02 -3.04184632e+01] [-9.83174129e-02 -2.15634540e-03 9.95152770e-01 -1.98182879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.78629675700003 meters 0.07116479507611424 Centerline is valid? [True, True] Translation: X:167.57, Y:-30.43, Z:-19.82 [[ 9.44894837e-01 3.13482592e-01 9.43525864e-02 1.67571954e+02] [-3.12153600e-01 9.49591554e-01 -2.89138518e-02 -3.04279142e+01] [-9.86604083e-02 -2.13195022e-03 9.95118877e-01 -1.98216069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.81629675700003 meters 0.07154428677693746 Centerline is valid? [True, True] Translation: X:167.60, Y:-30.43, Z:-19.83 [[ 9.44472642e-01 3.14149720e-01 9.63399288e-02 1.67601934e+02] [-3.12764729e-01 9.49370852e-01 -2.95501316e-02 -3.04344437e+01] [-1.00745486e-01 -2.22244089e-03 9.94909749e-01 -1.98265036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.84629675700003 meters 0.07160685125247689 Centerline is valid? [True, True] Translation: X:167.63, Y:-30.44, Z:-19.83 [[ 9.43868046e-01 3.15954098e-01 9.63645183e-02 1.67632653e+02] [-3.14576404e-01 9.48771434e-01 -2.95711194e-02 -3.04401907e+01] [-1.00771019e-01 -2.40276897e-03 9.94906744e-01 -1.98307339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.87629675700003 meters 0.0717362764906543 Centerline is valid? [True, True] Translation: X:167.66, Y:-30.45, Z:-19.84 [[ 9.43631664e-01 3.16901751e-01 9.55644465e-02 1.67663265e+02] [-3.15549448e-01 9.48455177e-01 -2.93483248e-02 -3.04479326e+01] [-9.99391295e-02 -2.46129973e-03 9.94990509e-01 -1.98351025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.90629675700004 meters 0.07155366599092974 Centerline is valid? [True, True] Translation: X:167.69, Y:-30.46, Z:-19.84 [[ 9.42834277e-01 3.18983690e-01 9.65035298e-02 1.67694327e+02] [-3.17612954e-01 9.47756402e-01 -2.96616528e-02 -3.04562568e+01] [-1.00923422e-01 -2.68474818e-03 9.94890574e-01 -1.98386491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.93629675700004 meters 0.07231146557239766 Centerline is valid? [True, True] Translation: X:167.73, Y:-30.46, Z:-19.84 [[ 9.42417758e-01 3.20406664e-01 9.58558272e-02 1.67725375e+02] [-3.19059021e-01 9.47275972e-01 -2.94885239e-02 -3.04597635e+01] [-1.00250242e-01 -2.79315785e-03 9.94958334e-01 -1.98441954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.96629675700004 meters 0.07240224344086128 Centerline is valid? [True, True] Translation: X:167.76, Y:-30.47, Z:-19.85 [[ 9.41817023e-01 3.22317180e-01 9.53537076e-02 1.67756747e+02] [-3.20991021e-01 9.46627110e-01 -2.93577734e-02 -3.04671915e+01] [-9.97269194e-02 -2.95803327e-03 9.95010448e-01 -1.98483172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.99629675700004 meters 0.07252552689199622 Centerline is valid? [True, True] Translation: X:167.79, Y:-30.47, Z:-19.85 [[ 9.40984850e-01 3.25159987e-01 9.39068421e-02 1.67787924e+02] [-3.23885594e-01 9.45653651e-01 -2.89360379e-02 -3.04727481e+01] [-9.82121898e-02 -3.18670010e-03 9.95160394e-01 -1.98526454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.026296757 meters 0.07280424975268106 Centerline is valid? [True, True] Translation: X:167.82, Y:-30.48, Z:-19.86 [[ 9.40501454e-01 3.27056195e-01 9.21480370e-02 1.67819021e+02] [-3.25835876e-01 9.44999138e-01 -2.84184840e-02 -3.04802870e+01] [-9.63742568e-02 -3.29751087e-03 9.95339705e-01 -1.98575276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.056296757 meters 0.07315183906342057 Centerline is valid? [True, True] Translation: X:167.85, Y:-30.48, Z:-19.86 [[ 9.39831947e-01 3.29335465e-01 9.08518681e-02 1.67849200e+02] [-3.28159351e-01 9.44206583e-01 -2.80244400e-02 -3.04849894e+01] [-9.50123739e-02 -3.47562603e-03 9.95470024e-01 -1.98633236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.086296757 meters 0.07330931809048308 Centerline is valid? [True, True] Translation: X:167.88, Y:-30.49, Z:-19.87 [[ 9.39663156e-01 3.30045725e-01 9.00165124e-02 1.67879244e+02] [-3.28893334e-01 9.43958444e-01 -2.77782451e-02 -3.04918368e+01] [-9.41399380e-02 -3.50363741e-03 9.95552810e-01 -1.98688143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.11629675700001 meters 0.07324128519938637 Centerline is valid? [True, True] Translation: X:167.91, Y:-30.50, Z:-19.87 [[ 9.39666692e-01 3.30069199e-01 8.98934447e-02 1.67909084e+02] [-3.28918079e-01 9.43950319e-01 -2.77613373e-02 -3.05011893e+01] [-9.40181082e-02 -3.48117513e-03 9.95564401e-01 -1.98734035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.14629675700002 meters 0.07324128519938637 Centerline is valid? [True, True] Translation: X:167.94, Y:-30.51, Z:-19.88 [[ 9.39578653e-01 3.30321607e-01 8.98865444e-02 1.67939852e+02] [-3.29169506e-01 9.43862016e-01 -2.77836596e-02 -3.05107930e+01] [-9.40180381e-02 -3.48297598e-03 9.95564401e-01 -1.98770208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.17629675700002 meters 0.07297177606882105 Centerline is valid? [True, True] Translation: X:167.97, Y:-30.52, Z:-19.88 [[ 9.39714349e-01 3.29981170e-01 8.97182763e-02 1.67969729e+02] [-3.28829309e-01 9.43981330e-01 -2.77584834e-02 -3.05216806e+01] [-9.38521546e-02 -3.41695364e-03 9.95580282e-01 -1.98797494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20629675700002 meters 0.07269556112146482 Centerline is valid? [True, True] Translation: X:168.00, Y:-30.53, Z:-19.88 [[ 9.40313062e-01 3.27845696e-01 9.12608607e-02 1.67998634e+02] [-3.26641181e-01 9.44725751e-01 -2.82629582e-02 -3.05318780e+01] [-9.54823744e-02 -3.23352655e-03 9.95425869e-01 -1.98833247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23629675700002 meters 0.07263276633399415 Centerline is valid? [True, True] Translation: X:168.03, Y:-30.54, Z:-19.89 [[ 9.40646584e-01 3.26812856e-01 9.15279218e-02 1.68028969e+02] [-3.25596314e-01 9.45083867e-01 -2.83465125e-02 -3.05423216e+01] [-9.57655670e-02 -3.13710378e-03 9.95398973e-01 -1.98859368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26629675700002 meters 0.07185745530816913 Centerline is valid? [True, True] Translation: X:168.06, Y:-30.56, Z:-19.89 [[ 9.41419982e-01 3.24028711e-01 9.34548619e-02 1.68057506e+02] [-3.22744038e-01 9.46042835e-01 -2.89696367e-02 -3.05551134e+01] [-9.77992965e-02 -2.88940468e-03 9.95201964e-01 -1.98882396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29629675700002 meters 0.07149417594117957 Centerline is valid? [True, True] Translation: X:168.09, Y:-30.57, Z:-19.89 [[ 9.41685870e-01 3.22895656e-01 9.46895858e-02 1.68087995e+02] [-3.21570363e-01 9.46430422e-01 -2.93591395e-02 -3.05662068e+01] [-9.90970432e-02 -2.80227765e-03 9.95073828e-01 -1.98913219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32629675700002 meters 0.07037680104919629 Centerline is valid? [True, True] Translation: X:168.12, Y:-30.58, Z:-19.89 [[ 9.42297340e-01 3.21220894e-01 9.43019686e-02 1.68116372e+02] [-3.19897469e-01 9.47000702e-01 -2.92451711e-02 -3.05831424e+01] [-9.86981905e-02 -2.60931419e-03 9.95113993e-01 -1.98924499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35629675700002 meters 0.07052304735230874 Centerline is valid? [True, True] Translation: X:168.15, Y:-30.59, Z:-19.90 [[ 9.42286114e-01 3.20907064e-01 9.54753124e-02 1.68145993e+02] [-3.19546122e-01 9.47107166e-01 -2.96359929e-02 -3.05911160e+01] [-9.99357520e-02 -2.58318124e-03 9.94990539e-01 -1.98966738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.38629675700003 meters 0.07066457898278132 Centerline is valid? [True, True] Translation: X:168.18, Y:-30.60, Z:-19.90 [[ 9.42323348e-01 3.20518689e-01 9.64078722e-02 1.68175868e+02] [-3.19126333e-01 9.47238780e-01 -2.99512648e-02 -3.05981636e+01] [-1.00921215e-01 -2.54251456e-03 9.94891172e-01 -1.99012860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.41629675700003 meters 0.07132106364892435 Centerline is valid? [True, True] Translation: X:168.21, Y:-30.60, Z:-19.91 [[ 9.41502579e-01 3.22924514e-01 9.63984015e-02 1.68206838e+02] [-3.21543607e-01 9.46420620e-01 -2.99619383e-02 -3.06027357e+01] [-1.00908879e-01 -2.78704752e-03 9.94891768e-01 -1.99053555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.44629675700003 meters 0.07046635184808742 Centerline is valid? [True, True] Translation: X:168.24, Y:-30.62, Z:-19.91 [[ 9.40873054e-01 3.24503647e-01 9.72382596e-02 1.68236269e+02] [-3.23104606e-01 9.45879811e-01 -3.02456106e-02 -3.06168380e+01] [-1.01790518e-01 -2.96084956e-03 9.94801449e-01 -1.99071628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.47629675700003 meters 0.07105212950835915 Centerline is valid? [True, True] Translation: X:168.27, Y:-30.62, Z:-19.91 [[ 9.40005208e-01 3.27178305e-01 9.66672906e-02 1.68267101e+02] [-3.25807077e-01 9.44957183e-01 -3.00943626e-02 -3.06221428e+01] [-1.01192673e-01 -3.20602981e-03 9.94861681e-01 -1.99106745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.50629675700003 meters 0.07159336430300417 Centerline is valid? [True, True] Translation: X:168.30, Y:-30.63, Z:-19.91 [[ 9.38299271e-01 3.32453609e-01 9.52316939e-02 1.68298003e+02] [-3.31147345e-01 9.43112377e-01 -2.96728985e-02 -3.06275024e+01] [-9.96790514e-02 -3.69366359e-03 9.95012786e-01 -1.99136621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.53629675700003 meters 0.07199634729459975 Centerline is valid? [True, True] Translation: X:168.33, Y:-30.63, Z:-19.92 [[ 9.37535276e-01 3.35046743e-01 9.36551484e-02 1.68328460e+02] [-3.33795904e-01 9.42193440e-01 -2.91858837e-02 -3.06336700e+01] [-9.80199018e-02 -3.89890947e-03 9.95176817e-01 -1.99184429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.56629675700003 meters 0.07290701830958811 Centerline is valid? [True, True] Translation: X:168.36, Y:-30.64, Z:-19.92 [[ 9.35782029e-01 3.40578851e-01 9.12032920e-02 1.68359891e+02] [-3.39416666e-01 9.40205950e-01 -2.84446557e-02 -3.06377531e+01] [-9.54375260e-02 -4.33791966e-03 9.95425970e-01 -1.99242487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.59629675700003 meters 0.07348642227037198 Centerline is valid? [True, True] Translation: X:168.39, Y:-30.64, Z:-19.93 [[ 9.35116928e-01 3.42917552e-01 8.92405974e-02 1.68389927e+02] [-3.41813540e-01 9.39354930e-01 -2.78535228e-02 -3.06441561e+01] [-9.33800570e-02 -4.45734383e-03 9.95620559e-01 -1.99292927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.62629675700003 meters 0.07433522509259309 Centerline is valid? [True, True] Translation: X:168.42, Y:-30.65, Z:-19.93 [[ 9.34751890e-01 3.44777357e-01 8.58340124e-02 1.68420199e+02] [-3.43762176e-01 9.38673962e-01 -2.68096947e-02 -3.06507956e+01] [-8.98135282e-02 -4.44607405e-03 9.95948675e-01 -1.99348139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.65629675700004 meters 0.07478985175915448 Centerline is valid? [True, True] Translation: X:168.45, Y:-30.66, Z:-19.94 [[ 9.34675880e-01 3.45249723e-01 8.47562837e-02 1.68449705e+02] [-3.44260105e-01 9.38500466e-01 -2.64925507e-02 -3.06593492e+01] [-8.86903575e-02 -4.41625893e-03 9.96049455e-01 -1.99397159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.68629675700004 meters 0.07370121865650693 Centerline is valid? [True, True] Translation: X:168.48, Y:-30.68, Z:-19.94 [[ 9.35838515e-01 3.41984193e-01 8.51650516e-02 1.68478014e+02] [-3.40969265e-01 9.39696748e-01 -2.66454774e-02 -3.06755338e+01] [-8.91416542e-02 -4.10280112e-03 9.96010508e-01 -1.99424042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.71629675700004 meters 0.0733628263810209 Centerline is valid? [True, True] Translation: X:168.51, Y:-30.69, Z:-19.95 [[ 9.36772280e-01 3.39210274e-01 8.59888681e-02 1.68506987e+02] [-3.38163499e-01 9.40702610e-01 -2.69081203e-02 -3.06882010e+01] [-9.00174636e-02 -3.87151526e-03 9.95932662e-01 -1.99453073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.74629675700004 meters 0.07301720567851373 Centerline is valid? [True, True] Translation: X:168.54, Y:-30.70, Z:-19.95 [[ 9.37648382e-01 3.36589337e-01 8.67359844e-02 1.68536289e+02] [-3.35512615e-01 9.41644477e-01 -2.71470911e-02 -3.07009242e+01] [-9.08118821e-02 -3.64659086e-03 9.95861388e-01 -1.99475556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.776296757 meters 0.07221340501659501 Centerline is valid? [True, True] Translation: X:168.56, Y:-30.72, Z:-19.95 [[ 9.39659457e-01 3.30745345e-01 8.74506797e-02 1.68563654e+02] [-3.29625075e-01 9.43714942e-01 -2.73754892e-02 -3.07178159e+01] [-9.15828288e-02 -3.10229957e-03 9.95792630e-01 -1.99489232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.806296757 meters 0.07245588697786458 Centerline is valid? [True, True] Translation: X:168.59, Y:-30.73, Z:-19.95 [[ 9.41073868e-01 3.26318100e-01 8.88621023e-02 1.68590692e+02] [-3.25141113e-01 9.45256133e-01 -2.78226569e-02 -3.07325131e+01] [-9.30764837e-02 -2.70954758e-03 9.95655275e-01 -1.99518661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.836296757 meters 0.07238112234879038 Centerline is valid? [True, True] Translation: X:168.62, Y:-30.75, Z:-19.95 [[ 9.41595445e-01 3.25092879e-01 8.78216215e-02 1.68620263e+02] [-3.23936511e-01 9.45678675e-01 -2.75132696e-02 -3.07453017e+01] [-9.19954027e-02 -2.54226030e-03 9.95756186e-01 -1.99547884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.86629675700001 meters 0.07244272764916437 Centerline is valid? [True, True] Translation: X:168.65, Y:-30.76, Z:-19.96 [[ 9.41921567e-01 3.24112746e-01 8.79470830e-02 1.68649624e+02] [-3.22946654e-01 9.46015345e-01 -2.75758137e-02 -3.07572794e+01] [-9.21369628e-02 -2.42796252e-03 9.95743383e-01 -1.99579123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.89629675700002 meters 0.0725834996509222 Centerline is valid? [True, True] Translation: X:168.68, Y:-30.77, Z:-19.96 [[ 9.42266837e-01 3.23140060e-01 8.78277220e-02 1.68678586e+02] [-3.21970762e-01 9.46348338e-01 -2.75617666e-02 -3.07692004e+01] [-9.20219297e-02 -2.30741995e-03 9.95754307e-01 -1.99609527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.92629675700002 meters 0.07284183142215314 Centerline is valid? [True, True] Translation: X:168.71, Y:-30.78, Z:-19.96 [[ 9.41896715e-01 3.24108099e-01 8.82299198e-02 1.68709459e+02] [-3.22930329e-01 9.46017026e-01 -2.77090124e-02 -3.07788886e+01] [-9.24477217e-02 -2.39308935e-03 9.95714664e-01 -1.99645545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95629675700002 meters 0.07283053619004538 Centerline is valid? [True, True] Translation: X:168.74, Y:-30.79, Z:-19.97 [[ 9.41555323e-01 3.25071723e-01 8.83286446e-02 1.68740018e+02] [-3.23893435e-01 9.45686142e-01 -2.77626387e-02 -3.07898048e+01] [-9.25560239e-02 -2.46900788e-03 9.95704417e-01 -1.99673020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98629675700002 meters 0.07319037296139937 Centerline is valid? [True, True] Translation: X:168.77, Y:-30.80, Z:-19.97 [[ 9.40411959e-01 3.28124539e-01 8.92167857e-02 1.68770612e+02] [-3.26933831e-01 9.44630397e-01 -2.80656843e-02 -3.07984930e+01] [-9.34859275e-02 -2.77468036e-03 9.95616735e-01 -1.99706009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01629675700002 meters 0.07379184377693991 Centerline is valid? [True, True] Translation: X:168.80, Y:-30.80, Z:-19.98 [[ 9.39847904e-01 3.30243614e-01 8.73216600e-02 1.68800880e+02] [-3.29110023e-01 9.43891280e-01 -2.74926317e-02 -3.08047546e+01] [-9.15014195e-02 -2.89954121e-03 9.95800724e-01 -1.99755350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04629675700002 meters 0.07370874616889854 Centerline is valid? [True, True] Translation: X:168.83, Y:-30.81, Z:-19.98 [[ 9.39395162e-01 3.32036921e-01 8.53710289e-02 1.68830762e+02] [-3.30959034e-01 9.43261665e-01 -2.68988684e-02 -3.08145168e+01] [-8.94586363e-02 -2.98564637e-03 9.95986063e-01 -1.99788557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07629675700002 meters 0.07495500337950822 Centerline is valid? [True, True] Translation: X:168.86, Y:-30.82, Z:-19.99 [[ 9.38583537e-01 3.35482561e-01 8.06994127e-02 1.68860274e+02] [-3.34530503e-01 9.42041277e-01 -2.54474925e-02 -3.08197577e+01] [-8.45593678e-02 -3.11181757e-03 9.96413584e-01 -1.99866770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10629675700002 meters 0.07633461801003782 Centerline is valid? [True, True] Translation: X:168.89, Y:-30.82, Z:-19.99 [[ 9.38345684e-01 3.36735521e-01 7.82084762e-02 1.68890770e+02] [-3.35844872e-01 9.41594121e-01 -2.46725258e-02 -3.08247314e+01] [-8.19487572e-02 -3.11455756e-03 9.96631678e-01 -1.99946638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.13629675700003 meters 0.07584837176169092 Centerline is valid? [True, True] Translation: X:168.92, Y:-30.84, Z:-20.00 [[ 9.37978255e-01 3.38826808e-01 7.34383184e-02 1.68919459e+02] [-3.38046693e-01 9.40843724e-01 -2.31844739e-02 -3.08375999e+01] [-7.69495022e-02 -3.07904831e-03 9.97030237e-01 -1.99975822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.16629675700003 meters 0.07574210033431948 Centerline is valid? [True, True] Translation: X:168.95, Y:-30.85, Z:-20.00 [[ 9.38058361e-01 3.39151122e-01 7.08733173e-02 1.68949390e+02] [-3.38423957e-01 9.40727195e-01 -2.23957582e-02 -3.08500900e+01] [-7.42680035e-02 -2.97670023e-03 9.97233876e-01 -2.00007513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.19629675700003 meters 0.07590501731940474 Centerline is valid? [True, True] Translation: X:168.98, Y:-30.86, Z:-20.01 [[ 9.38798154e-01 3.37529318e-01 6.87894252e-02 1.68978633e+02] [-3.36840182e-01 9.41310950e-01 -2.17344729e-02 -3.08637896e+01] [-7.20882610e-02 -2.76675952e-03 9.97394419e-01 -2.00052417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.22629675700003 meters 0.07608266376065696 Centerline is valid? [True, True] Translation: X:169.01, Y:-30.87, Z:-20.01 [[ 9.39299285e-01 3.36090312e-01 6.89938769e-02 1.69008088e+02] [-3.35391666e-01 9.41826051e-01 -2.18201867e-02 -3.08739678e+01] [-7.23137840e-02 -2.64428552e-03 9.97378426e-01 -2.00105391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.25629675700003 meters 0.07489277335222361 Centerline is valid? [True, True] Translation: X:169.03, Y:-30.89, Z:-20.01 [[ 9.40928974e-01 3.31618349e-01 6.84246838e-02 1.69034795e+02] [-3.30917906e-01 9.43410915e-01 -2.16606631e-02 -3.08928537e+01] [-7.17356669e-02 -2.26180763e-03 9.97421114e-01 -2.00110695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.28629675700003 meters 0.07431674249199784 Centerline is valid? [True, True] Translation: X:169.06, Y:-30.91, Z:-20.01 [[ 9.42017489e-01 3.28673202e-01 6.76533482e-02 1.69063393e+02] [-3.27980129e-01 9.44441586e-01 -2.14272109e-02 -3.09076839e+01] [-7.09371855e-02 -2.00414652e-03 9.97478771e-01 -2.00129242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.31629675700003 meters 0.07424409021938871 Centerline is valid? [True, True] Translation: X:169.09, Y:-30.92, Z:-20.02 [[ 9.44020044e-01 3.22935927e-01 6.73687196e-02 1.69089709e+02] [-3.22232595e-01 9.46419567e-01 -2.13578697e-02 -3.09236811e+01] [-7.06562979e-02 -1.54614023e-03 9.97499522e-01 -2.00202590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.34629675700003 meters 0.07410892782733144 Centerline is valid? [True, True] Translation: X:169.12, Y:-30.94, Z:-20.02 [[ 9.44711543e-01 3.20970885e-01 6.70655684e-02 1.69119023e+02] [-3.20268121e-01 9.47088053e-01 -2.12732171e-02 -3.09374600e+01] [-7.03450820e-02 -1.38190977e-03 9.97521759e-01 -2.00236404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.37629675700003 meters 0.07391431955583776 Centerline is valid? [True, True] Translation: X:169.15, Y:-30.96, Z:-20.03 [[ 9.45730552e-01 3.17614856e-01 6.86624050e-02 1.69146092e+02] [-3.16867833e-01 9.48219123e-01 -2.18007242e-02 -3.09553640e+01] [-7.20312393e-02 -1.13929650e-03 9.97401726e-01 -2.00263379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.40629675700004 meters 0.07334180126339254 Centerline is valid? [True, True] Translation: X:169.18, Y:-30.97, Z:-20.03 [[ 9.46058837e-01 3.16317790e-01 7.01122842e-02 1.69175610e+02] [-3.15534433e-01 9.48652703e-01 -2.22726621e-02 -3.09688960e+01] [-7.35574471e-02 -1.05159103e-03 9.97290427e-01 -2.00273754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.43629675700004 meters 0.07291531391748313 Centerline is valid? [True, True] Translation: X:169.20, Y:-30.98, Z:-20.03 [[ 9.46065167e-01 3.15640486e-01 7.30190619e-02 1.69203502e+02] [-3.14786777e-01 9.48878312e-01 -2.32214247e-02 -3.09814605e+01] [-7.66158260e-02 -1.01645406e-03 9.97060170e-01 -2.00292379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.46629675700004 meters 0.07273303294889402 Centerline is valid? [True, True] Translation: X:169.23, Y:-30.99, Z:-20.03 [[ 9.45248010e-01 3.17604684e-01 7.50564034e-02 1.69233975e+02] [-3.16708438e-01 9.48222450e-01 -2.38736518e-02 -3.09921641e+01] [-7.87525503e-02 -1.20447438e-03 9.96893467e-01 -2.00310190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.49629675700004 meters 0.07255188528908928 Centerline is valid? [True, True] Translation: X:169.26, Y:-31.00, Z:-20.03 [[ 9.44501697e-01 3.19727949e-01 7.54359590e-02 1.69264424e+02] [-3.18827808e-01 9.47508397e-01 -2.40138906e-02 -3.10022135e+01] [-7.91541166e-02 -1.36992103e-03 9.96861449e-01 -2.00325722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.526296757 meters 0.0729794103004902 Centerline is valid? [True, True] Translation: X:169.29, Y:-31.01, Z:-20.04 [[ 9.43345090e-01 3.22953228e-01 7.61659573e-02 1.69294224e+02] [-3.22044323e-01 9.46413512e-01 -2.42676360e-02 -3.10091814e+01] [-7.99218026e-02 -1.63605887e-03 9.96799794e-01 -2.00371933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.556296757 meters 0.07387922312670579 Centerline is valid? [True, True] Translation: X:169.32, Y:-31.01, Z:-20.04 [[ 9.40586060e-01 3.31089622e-01 7.53493611e-02 1.69324807e+02] [-3.30224469e-01 9.43596554e-01 -2.40279959e-02 -3.10120754e+01] [-7.90548175e-02 -2.28180471e-03 9.96867659e-01 -2.00427690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.586296757 meters 0.07461959490111035 Centerline is valid? [True, True] Translation: X:169.36, Y:-31.02, Z:-20.05 [[ 9.39173433e-01 3.35358347e-01 7.40813203e-02 1.69355694e+02] [-3.34534496e-01 9.42087093e-01 -2.36342954e-02 -3.10179213e+01] [-7.77170139e-02 -2.58605474e-03 9.96972105e-01 -2.00469301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.61629675700001 meters 0.07632894859832191 Centerline is valid? [True, True] Translation: X:169.39, Y:-31.02, Z:-20.05 [[ 9.36613136e-01 3.43022675e-01 7.13531937e-02 1.69387309e+02] [-3.42279296e-01 9.39322054e-01 -2.27807462e-02 -3.10197667e+01] [-7.48379409e-02 -3.08597480e-03 9.97190934e-01 -2.00537459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.64629675700002 meters 0.07722106108714406 Centerline is valid? [True, True] Translation: X:169.42, Y:-31.03, Z:-20.06 [[ 9.35559327e-01 3.46196567e-01 6.98332533e-02 1.69418149e+02] [-3.45491860e-01 9.38156373e-01 -2.23157853e-02 -3.10268049e+01] [-7.32401599e-02 -3.24907953e-03 9.97309041e-01 -2.00587752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.67629675700002 meters 0.07794991889575748 Centerline is valid? [True, True] Translation: X:169.45, Y:-31.04, Z:-20.06 [[ 9.34673874e-01 3.49367311e-01 6.57816921e-02 1.69448125e+02] [-3.48749608e-01 9.36980074e-01 -2.10250299e-02 -3.10358356e+01] [-6.89815929e-02 -3.28979313e-03 9.97612508e-01 -2.00629653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70629675700002 meters 0.07819511729267364 Centerline is valid? [True, True] Translation: X:169.48, Y:-31.05, Z:-20.07 [[ 9.34661653e-01 3.49676891e-01 6.42935946e-02 1.69478301e+02] [-3.49087947e-01 9.36864749e-01 -2.05437924e-02 -3.10460752e+01] [-6.74180918e-02 -3.24262397e-03 9.97719543e-01 -2.00675970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73629675700002 meters 0.07785539013664892 Centerline is valid? [True, True] Translation: X:169.51, Y:-31.06, Z:-20.07 [[ 9.35767368e-01 3.47237235e-01 6.13655826e-02 1.69508066e+02] [-3.46694692e-01 9.37772791e-01 -1.96209593e-02 -3.10612781e+01] [-6.43601014e-02 -2.91446833e-03 9.97922484e-01 -2.00719439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76629675700002 meters 0.0767805619931246 Centerline is valid? [True, True] Translation: X:169.54, Y:-31.08, Z:-20.07 [[ 9.36918951e-01 3.44390561e-01 5.98165605e-02 1.69537368e+02] [-3.43867746e-01 9.38822796e-01 -1.91502326e-02 -3.10764457e+01] [-6.27523099e-02 -2.62677003e-03 9.98025675e-01 -2.00738345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79629675700002 meters 0.07535865867664689 Centerline is valid? [True, True] Translation: X:169.56, Y:-31.10, Z:-20.08 [[ 9.39535739e-01 3.37332578e-01 5.89858181e-02 1.69564453e+02] [-3.36809579e-01 9.41383165e-01 -1.88956124e-02 -3.10951911e+01] [-6.19023618e-02 -2.11388537e-03 9.98079971e-01 -2.00753783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82629675700002 meters 0.07510274310837071 Centerline is valid? [True, True] Translation: X:169.59, Y:-31.11, Z:-20.08 [[ 9.40700934e-01 3.33969002e-01 5.95521571e-02 1.69591679e+02] [-3.33428948e-01 9.42582128e-01 -1.90805737e-02 -3.11084635e+01] [-6.25051191e-02 -1.90729968e-03 9.98042821e-01 -2.00790818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85629675700002 meters 0.07366072043841142 Centerline is valid? [True, True] Translation: X:169.62, Y:-31.13, Z:-20.08 [[ 9.43259188e-01 3.26390974e-01 6.10822152e-02 1.69618233e+02] [-3.25806778e-01 9.45233760e-01 -1.95724815e-02 -3.11291426e+01] [-6.41252533e-02 -1.43907679e-03 9.97940820e-01 -2.00783958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.88629675700003 meters 0.07346284376846161 Centerline is valid? [True, True] Translation: X:169.65, Y:-31.14, Z:-20.08 [[ 9.43944101e-01 3.23945285e-01 6.34742970e-02 1.69645507e+02] [-3.23307499e-01 9.46074919e-01 -2.03594617e-02 -3.11423684e+01] [-6.66467920e-02 -1.30352245e-03 9.97775779e-01 -2.00812914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.91629675700003 meters 0.07235512458762439 Centerline is valid? [True, True] Translation: X:169.67, Y:-31.16, Z:-20.08 [[ 9.45005354e-01 3.19978963e-01 6.76634703e-02 1.69673061e+02] [-3.19243632e-01 9.47424024e-01 -2.17076567e-02 -3.11602736e+01] [-7.10519908e-02 -1.08728016e-03 9.97472021e-01 -2.00786560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.94629675700003 meters 0.07223862975014685 Centerline is valid? [True, True] Translation: X:169.70, Y:-31.17, Z:-20.08 [[ 9.45095190e-01 3.19309817e-01 6.95436684e-02 1.69702740e+02] [-3.18529493e-01 9.47649804e-01 -2.23340795e-02 -3.11719443e+01] [-7.30345346e-02 -1.04387829e-03 9.97328866e-01 -2.00813976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.97629675700003 meters 0.07220359131772149 Centerline is valid? [True, True] Translation: X:169.73, Y:-31.18, Z:-20.09 [[ 9.44353477e-01 3.20856186e-01 7.24418312e-02 1.69731345e+02] [-3.20013480e-01 9.47127157e-01 -2.32705940e-02 -3.11813005e+01] [-7.60781397e-02 -1.20669611e-03 9.97101129e-01 -2.00850764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.00629675700003 meters 0.07232671798690811 Centerline is valid? [True, True] Translation: X:169.76, Y:-31.19, Z:-20.09 [[ 9.43547747e-01 3.22957914e-01 7.35923493e-02 1.69761815e+02] [-3.22094277e-01 9.46412300e-01 -2.36439449e-02 -3.11901052e+01] [-7.72847037e-02 -1.39448357e-03 9.97008089e-01 -2.00885045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.03629675700003 meters 0.07232671798690811 Centerline is valid? [True, True] Translation: X:169.79, Y:-31.20, Z:-20.09 [[ 9.43459756e-01 3.23216073e-01 7.35870858e-02 1.69792441e+02] [-3.22351943e-01 9.46324159e-01 -2.36603129e-02 -3.12000506e+01] [-7.72846305e-02 -1.39838706e-03 9.97008089e-01 -2.00921202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.06629675700003 meters 0.07279504326893778 Centerline is valid? [True, True] Translation: X:169.82, Y:-31.20, Z:-20.10 [[ 9.41673568e-01 3.28365873e-01 7.36664468e-02 1.69823400e+02] [-3.27513400e-01 9.44548902e-01 -2.37138242e-02 -3.12048622e+01] [-7.73683720e-02 -1.79606704e-03 9.97000957e-01 -2.00966839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.09629675700003 meters 0.07310744123109976 Centerline is valid? [True, True] Translation: X:169.85, Y:-31.21, Z:-20.10 [[ 9.40482422e-01 3.31735917e-01 7.37841167e-02 1.69854060e+02] [-3.30890649e-01 9.43370018e-01 -2.37568589e-02 -3.12119422e+01] [-7.74867269e-02 -2.07156605e-03 9.96991232e-01 -2.01004697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.12629675700003 meters 0.074228856221696 Centerline is valid? [True, True] Translation: X:169.89, Y:-31.22, Z:-20.11 [[ 9.37990766e-01 3.38833471e-01 7.32475417e-02 1.69885234e+02] [-3.38020227e-01 9.40842726e-01 -2.36070163e-02 -3.12156340e+01] [-7.69132641e-02 -2.61598737e-03 9.97034356e-01 -2.01058128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.15629675700004 meters 0.07542565247800145 Centerline is valid? [True, True] Translation: X:169.92, Y:-31.22, Z:-20.11 [[ 9.36725828e-01 3.42608283e-01 7.18629805e-02 1.69915775e+02] [-3.41836535e-01 9.39473965e-01 -2.31614434e-02 -3.12205795e+01] [-7.54487015e-02 -2.86947002e-03 9.97145556e-01 -2.01117957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.18629675700004 meters 0.0763721361107477 Centerline is valid? [True, True] Translation: X:169.95, Y:-31.23, Z:-20.12 [[ 9.34923959e-01 3.48081343e-01 6.89678816e-02 1.69947007e+02] [-3.47383826e-01 9.37459021e-01 -2.22499645e-02 -3.12259563e+01] [-7.23993603e-02 -3.15630169e-03 9.97370729e-01 -2.01172672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.21629675700004 meters 0.07752194322678288 Centerline is valid? [True, True] Translation: X:169.98, Y:-31.23, Z:-20.12 [[ 9.34157243e-01 3.50456855e-01 6.73070414e-02 1.69976670e+02] [-3.49798624e-01 9.36573208e-01 -2.17151664e-02 -3.12317047e+01] [-7.06482007e-02 -3.25853048e-03 9.97495972e-01 -2.01228417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.24629675700004 meters 0.07852727657291607 Centerline is valid? [True, True] Translation: X:170.01, Y:-31.24, Z:-20.13 [[ 9.33534600e-01 3.52364263e-01 6.59740566e-02 1.70006882e+02] [-3.51735988e-01 9.35857018e-01 -2.12940346e-02 -3.12382102e+01] [-6.92455407e-02 -3.32673189e-03 9.97594100e-01 -2.01294011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.276296757 meters 0.07805201764293815 Centerline is valid? [True, True] Translation: X:170.04, Y:-31.25, Z:-20.13 [[ 9.33744416e-01 3.51941366e-01 6.52582645e-02 1.70037290e+02] [-3.51324735e-01 9.36016416e-01 -2.10760503e-02 -3.12502562e+01] [-6.85003407e-02 -3.24719820e-03 9.97645808e-01 -2.01320240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.306296757 meters 0.07710740449248252 Centerline is valid? [True, True] Translation: X:170.07, Y:-31.26, Z:-20.13 [[ 9.35045493e-01 3.48515356e-01 6.50151706e-02 1.70065376e+02] [-3.47893382e-01 9.37298391e-01 -2.10219210e-02 -3.12649498e+01] [-6.82650770e-02 -2.96189512e-03 9.97662822e-01 -2.01347377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.336296757 meters 0.0767846269076158 Centerline is valid? [True, True] Translation: X:170.09, Y:-31.28, Z:-20.14 [[ 9.35719852e-01 3.46683521e-01 6.51067911e-02 1.70093980e+02] [-3.46054537e-01 9.37977921e-01 -2.10636645e-02 -3.12774429e+01] [-6.83711579e-02 -2.82081139e-03 9.97655967e-01 -2.01384002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.36629675700001 meters 0.0761380318657625 Centerline is valid? [True, True] Translation: X:170.12, Y:-31.29, Z:-20.14 [[ 9.36863438e-01 3.43418121e-01 6.59612915e-02 1.70123190e+02] [-3.42762873e-01 9.39179034e-01 -2.13624684e-02 -3.12897270e+01] [-6.92857208e-02 -2.59536621e-03 9.97593481e-01 -2.01421430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.39629675700002 meters 0.07489048112968219 Centerline is valid? [True, True] Translation: X:170.15, Y:-31.31, Z:-20.14 [[ 9.39153964e-01 3.36807828e-01 6.74560507e-02 1.70150855e+02] [-3.36105695e-01 9.41570937e-01 -2.18433565e-02 -3.13072784e+01] [-7.08716704e-02 -2.15808798e-03 9.97483107e-01 -2.01439622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.42629675700002 meters 0.07387136235255741 Centerline is valid? [True, True] Translation: X:170.18, Y:-31.32, Z:-20.15 [[ 9.41079636e-01 3.30547213e-01 7.14678852e-02 1.70177431e+02] [-3.29739393e-01 9.43787802e-01 -2.31628551e-02 -3.13229203e+01] [-7.51069355e-02 -1.76768581e-03 9.97173918e-01 -2.01460881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.45629675700002 meters 0.07336260259829358 Centerline is valid? [True, True] Translation: X:170.21, Y:-31.34, Z:-20.15 [[ 9.41825958e-01 3.27999729e-01 7.33487762e-02 1.70206579e+02] [-3.27139668e-01 9.44676481e-01 -2.37904175e-02 -3.13361979e+01] [-7.70941143e-02 -1.58886162e-03 9.97022554e-01 -2.01482049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48629675700002 meters 0.0727801606673384 Centerline is valid? [True, True] Translation: X:170.24, Y:-31.35, Z:-20.15 [[ 9.42429645e-01 3.25424011e-01 7.69777752e-02 1.70235323e+02] [-3.24467654e-01 9.45567096e-01 -2.49721583e-02 -3.13495731e+01] [-8.09141913e-02 -1.44229587e-03 9.96720028e-01 -2.01487612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51629675700002 meters 0.07246749273906071 Centerline is valid? [True, True] Translation: X:170.26, Y:-31.36, Z:-20.15 [[ 9.42222845e-01 3.25521422e-01 7.90690509e-02 1.70264501e+02] [-3.24512713e-01 9.45533490e-01 -2.56499225e-02 -3.13590970e+01] [-8.31120349e-02 -1.49096923e-03 9.96539094e-01 -2.01512802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54629675700002 meters 0.07228903363649808 Centerline is valid? [True, True] Translation: X:170.30, Y:-31.37, Z:-20.15 [[ 9.41881658e-01 3.25898850e-01 8.15406744e-02 1.70295407e+02] [-3.24825377e-01 9.45403373e-01 -2.64752248e-02 -3.13689530e+01] [-8.57170739e-02 -1.54995160e-03 9.96318313e-01 -2.01541747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57629675700002 meters 0.07212839126922717 Centerline is valid? [True, True] Translation: X:170.33, Y:-31.38, Z:-20.15 [[ 9.40380736e-01 3.29487281e-01 8.43931437e-02 1.70327498e+02] [-3.28351341e-01 9.44158022e-01 -2.74048733e-02 -3.13770287e+01] [-8.87100208e-02 -1.93958696e-03 9.96055606e-01 -2.01542385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60629675700002 meters 0.07249186037285303 Centerline is valid? [True, True] Translation: X:170.36, Y:-31.38, Z:-20.16 [[ 9.39513344e-01 3.31769095e-01 8.51113655e-02 1.70357946e+02] [-3.30620589e-01 9.43358180e-01 -2.76653348e-02 -3.13830147e+01] [-8.94690059e-02 -2.14761854e-03 9.95987291e-01 -2.01590173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.63629675700003 meters 0.07408577859712273 Centerline is valid? [True, True] Translation: X:170.39, Y:-31.38, Z:-20.17 [[ 9.37514716e-01 3.37485279e-01 8.46749283e-02 1.70389792e+02] [-3.36369759e-01 9.41327055e-01 -2.75456244e-02 -3.13825412e+01] [-8.90030436e-02 -2.65765703e-03 9.96027808e-01 -2.01657239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.66629675700003 meters 0.07342067507475201 Centerline is valid? [True, True] Translation: X:170.42, Y:-31.39, Z:-20.17 [[ 9.36571420e-01 3.40387848e-01 8.34870501e-02 1.70419275e+02] [-3.39313848e-01 9.40280712e-01 -2.71715793e-02 -3.13938269e+01] [-8.77501383e-02 -2.88018759e-03 9.96138353e-01 -2.01668017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.69629675700003 meters 0.07530115889887247 Centerline is valid? [True, True] Translation: X:170.45, Y:-31.39, Z:-20.17 [[ 9.34406253e-01 3.47225628e-01 7.94941338e-02 1.70450374e+02] [-3.46274845e-01 9.37775699e-01 -2.58934337e-02 -3.13940203e+01] [-8.35385307e-02 -3.33183247e-03 9.96498978e-01 -2.01741335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.72629675700003 meters 0.07722466036417577 Centerline is valid? [True, True] Translation: X:170.48, Y:-31.40, Z:-20.18 [[ 9.33628325e-01 3.49730463e-01 7.76321676e-02 1.70481828e+02] [-3.48831428e-01 9.36843970e-01 -2.52984489e-02 -3.13958255e+01] [-8.15768663e-02 -3.46119136e-03 9.96661043e-01 -2.01819166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.75629675700003 meters 0.07731066257279319 Centerline is valid? [True, True] Translation: X:170.51, Y:-31.40, Z:-20.19 [[ 9.32297307e-01 3.54044775e-01 7.39866769e-02 1.70511725e+02] [-3.53240402e-01 9.35221388e-01 -2.41282622e-02 -3.14035666e+01] [-7.77364078e-02 -3.64036963e-03 9.96967301e-01 -2.01865732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.78629675700003 meters 0.07776315536838012 Centerline is valid? [True, True] Translation: X:170.54, Y:-31.41, Z:-20.19 [[ 9.32203324e-01 3.54651819e-01 7.22429957e-02 1.70541848e+02] [-3.53885635e-01 9.34991552e-01 -2.35744517e-02 -3.14104852e+01] [-7.59073128e-02 -3.58957623e-03 9.97108417e-01 -2.01916521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.81629675700003 meters 0.0779588961629564 Centerline is valid? [True, True] Translation: X:170.57, Y:-31.42, Z:-20.20 [[ 9.31955872e-01 3.55266814e-01 7.24136928e-02 1.70573255e+02] [-3.54497608e-01 9.34757879e-01 -2.36464421e-02 -3.14207691e+01] [-7.60900660e-02 -3.63304029e-03 9.97094330e-01 -2.01958138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.84629675700003 meters 0.07792754493605147 Centerline is valid? [True, True] Translation: X:170.60, Y:-31.43, Z:-20.20 [[ 9.32163570e-01 3.54757904e-01 7.22350854e-02 1.70603992e+02] [-3.53988709e-01 9.34951439e-01 -2.36178016e-02 -3.14308563e+01] [-7.59148988e-02 -3.55475038e-03 9.97107964e-01 -2.01998633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.87629675700003 meters 0.07715296238706394 Centerline is valid? [True, True] Translation: X:170.63, Y:-31.44, Z:-20.20 [[ 9.32985781e-01 3.52403808e-01 7.31374590e-02 1.70633679e+02] [-3.51607390e-01 9.35841874e-01 -2.39213153e-02 -3.14422300e+01] [-7.68750593e-02 -3.39742405e-03 9.97034946e-01 -2.02033044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.90629675700004 meters 0.07696327515360588 Centerline is valid? [True, True] Translation: X:170.66, Y:-31.45, Z:-20.21 [[ 9.33585611e-01 3.50816854e-01 7.31125317e-02 1.70662445e+02] [-3.50016278e-01 9.36438390e-01 -2.39112197e-02 -3.14529999e+01] [-7.68538404e-02 -3.26740552e-03 9.97037016e-01 -2.02060029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.93629675700004 meters 0.07548598619345649 Centerline is valid? [True, True] Translation: X:170.69, Y:-31.47, Z:-20.21 [[ 9.34919056e-01 3.47020380e-01 7.41836522e-02 1.70691085e+02] [-3.46182636e-01 9.37852855e-01 -2.42817851e-02 -3.14679347e+01] [-7.79996243e-02 -2.97958862e-03 9.96948936e-01 -2.02081560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.96629675700004 meters 0.07447473425025629 Centerline is valid? [True, True] Translation: X:170.72, Y:-31.48, Z:-20.21 [[ 9.36458662e-01 3.42451801e-01 7.59732804e-02 1.70718944e+02] [-3.41556914e-01 9.39531666e-01 -2.48821829e-02 -3.14831827e+01] [-7.99002510e-02 -2.64806346e-03 9.96799347e-01 -2.02100150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.99629675700004 meters 0.07379493819006466 Centerline is valid? [True, True] Translation: X:170.75, Y:-31.50, Z:-20.21 [[ 9.37307481e-01 3.39738769e-01 7.76675885e-02 1.70747968e+02] [-3.38792084e-01 9.40516657e-01 -2.54625686e-02 -3.14962638e+01] [-8.16982824e-02 -2.44690816e-03 9.96654104e-01 -2.02121799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.026296757 meters 0.07292322400961558 Centerline is valid? [True, True] Translation: X:170.78, Y:-31.51, Z:-20.21 [[ 9.38283132e-01 3.35876153e-01 8.25346857e-02 1.70775691e+02] [-3.34791851e-01 9.41903489e-01 -2.70598246e-02 -3.15094531e+01] [-8.68284582e-02 -2.24216323e-03 9.96220754e-01 -2.02125560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.056296757 meters 0.07250980858025084 Centerline is valid? [True, True] Translation: X:170.81, Y:-31.52, Z:-20.21 [[ 9.38489382e-01 3.34751332e-01 8.47303057e-02 1.70805940e+02] [-3.33601998e-01 9.42303992e-01 -2.78009595e-02 -3.15211615e+01] [-8.91481136e-02 -2.17529398e-03 9.96016005e-01 -2.02140457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.086296757 meters 0.07242704783135437 Centerline is valid? [True, True] Translation: X:170.84, Y:-31.53, Z:-20.22 [[ 9.38481674e-01 3.34430983e-01 8.60701201e-02 1.70835471e+02] [-3.33243247e-01 9.42417734e-01 -2.82445166e-02 -3.15303844e+01] [-9.05598490e-02 -2.17532510e-03 9.95888639e-01 -2.02171977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.11629675700001 meters 0.07217785935309111 Centerline is valid? [True, True] Translation: X:170.87, Y:-31.54, Z:-20.22 [[ 9.38059172e-01 3.35141595e-01 8.78925558e-02 1.70866260e+02] [-3.33904012e-01 9.42165035e-01 -2.88644561e-02 -3.15397372e+01] [-9.24829728e-02 -2.27110927e-03 9.95711676e-01 -2.02193088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.14629675700002 meters 0.07220147352493085 Centerline is valid? [True, True] Translation: X:170.90, Y:-31.55, Z:-20.22 [[ 9.37550737e-01 3.36450811e-01 8.83145987e-02 1.70896263e+02] [-3.35204822e-01 9.41698012e-01 -2.90272726e-02 -3.15481923e+01] [-9.29319314e-02 -2.38893848e-03 9.95669598e-01 -2.02230743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.17629675700002 meters 0.0728345626292896 Centerline is valid? [True, True] Translation: X:170.93, Y:-31.55, Z:-20.23 [[ 9.36734466e-01 3.39310130e-01 8.60068354e-02 1.70927291e+02] [-3.38138624e-01 9.40671020e-01 -2.82896393e-02 -3.15535018e+01] [-9.05030987e-02 -2.58235280e-03 9.95892826e-01 -2.02298033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20629675700002 meters 0.07313367578371735 Centerline is valid? [True, True] Translation: X:170.96, Y:-31.56, Z:-20.24 [[ 9.36505100e-01 3.40165235e-01 8.51223262e-02 1.70958187e+02] [-3.39019462e-01 9.40362035e-01 -2.80187092e-02 -3.15618875e+01] [-8.95767947e-02 -2.61846114e-03 9.95976476e-01 -2.02350848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23629675700002 meters 0.07398346760580539 Centerline is valid? [True, True] Translation: X:170.99, Y:-31.57, Z:-20.24 [[ 9.35798494e-01 3.42939661e-01 8.16919034e-02 1.70988713e+02] [-3.41893202e-01 9.39353418e-01 -2.69108488e-02 -3.15687402e+01] [-8.59663661e-02 -2.74677467e-03 9.96294253e-01 -2.02414296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26629675700002 meters 0.07374646191095965 Centerline is valid? [True, True] Translation: X:171.02, Y:-31.58, Z:-20.24 [[ 9.35665447e-01 3.43714183e-01 7.99420555e-02 1.71018953e+02] [-3.42713436e-01 9.39070313e-01 -2.63523951e-02 -3.15794876e+01] [-8.41289030e-02 -2.74019097e-03 9.96451112e-01 -2.02448594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29629675700002 meters 0.07453046151044226 Centerline is valid? [True, True] Translation: X:171.05, Y:-31.59, Z:-20.25 [[ 9.35272293e-01 3.45038836e-01 7.88285506e-02 1.71048517e+02] [-3.44068411e-01 9.38584246e-01 -2.60104216e-02 -3.15859052e+01] [-8.29618413e-02 -2.79558751e-03 9.96548803e-01 -2.02508555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32629675700002 meters 0.07425635083530738 Centerline is valid? [True, True] Translation: X:171.08, Y:-31.60, Z:-20.25 [[ 9.35409227e-01 3.44766435e-01 7.83944132e-02 1.71078884e+02] [-3.43805240e-01 9.38684473e-01 -2.58730933e-02 -3.15976482e+01] [-8.25077926e-02 -2.75047986e-03 9.96586624e-01 -2.02537472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35629675700002 meters 0.07466702653383488 Centerline is valid? [True, True] Translation: X:171.11, Y:-31.61, Z:-20.26 [[ 9.35436186e-01 3.44976755e-01 7.71374113e-02 1.71108179e+02] [-3.44044838e-01 9.38607344e-01 -2.54834096e-02 -3.16062440e+01] [-8.11929247e-02 -2.70062469e-03 9.96694745e-01 -2.02599891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.38629675700003 meters 0.07465286048601745 Centerline is valid? [True, True] Translation: X:171.14, Y:-31.62, Z:-20.26 [[ 9.35220569e-01 3.45393212e-01 7.78846336e-02 1.71138570e+02] [-3.44442982e-01 9.38454044e-01 -2.57495543e-02 -3.16158788e+01] [-8.19848706e-02 -2.74530263e-03 9.96629793e-01 -2.02637065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.41629675700003 meters 0.0740041489074817 Centerline is valid? [True, True] Translation: X:171.17, Y:-31.63, Z:-20.26 [[ 9.35023321e-01 3.45556983e-01 7.95095037e-02 1.71168336e+02] [-3.44565439e-01 9.38393598e-01 -2.63080417e-02 -3.16281393e+01] [-8.37021368e-02 -2.79759455e-03 9.96486892e-01 -2.02648065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.44629675700003 meters 0.07444025572260532 Centerline is valid? [True, True] Translation: X:171.20, Y:-31.64, Z:-20.27 [[ 9.34850407e-01 3.45859644e-01 8.02235838e-02 1.71197731e+02] [-3.44849157e-01 9.38282003e-01 -2.65695643e-02 -3.16357013e+01] [-8.44616849e-02 -2.82646724e-03 9.96422719e-01 -2.02699978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.47629675700003 meters 0.07350623391077406 Centerline is valid? [True, True] Translation: X:171.23, Y:-31.65, Z:-20.27 [[ 9.34602038e-01 3.46178024e-01 8.17300764e-02 1.71227407e+02] [-3.45129517e-01 9.38164360e-01 -2.70785867e-02 -3.16496136e+01] [-8.60502565e-02 -2.89975949e-03 9.96286578e-01 -2.02710553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.50629675700003 meters 0.07349505349317133 Centerline is valid? [True, True] Translation: X:171.26, Y:-31.66, Z:-20.27 [[ 9.34586717e-01 3.46050633e-01 8.24416677e-02 1.71256278e+02] [-3.44981210e-01 9.38211384e-01 -2.73379627e-02 -3.16596116e+01] [-8.68080304e-02 -2.89112946e-03 9.96220863e-01 -2.02747085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.53629675700003 meters 0.07356591744007494 Centerline is valid? [True, True] Translation: X:171.29, Y:-31.67, Z:-20.28 [[ 9.34280506e-01 3.46113135e-01 8.55899141e-02 1.71285365e+02] [-3.44958547e-01 9.38188028e-01 -2.84046763e-02 -3.16687364e+01] [-9.01306642e-02 -2.98703701e-03 9.95925470e-01 -2.02790242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.56629675700003 meters 0.07362387631955954 Centerline is valid? [True, True] Translation: X:171.32, Y:-31.68, Z:-20.28 [[ 9.34126276e-01 3.46712611e-01 8.48437774e-02 1.71315655e+02] [-3.45578701e-01 9.37966617e-01 -2.81777762e-02 -3.16788274e+01] [-8.93502212e-02 -2.99860125e-03 9.95995756e-01 -2.02816830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.59629675700003 meters 0.07366062914247266 Centerline is valid? [True, True] Translation: X:171.35, Y:-31.69, Z:-20.28 [[ 9.33734857e-01 3.47504376e-01 8.59064889e-02 1.71346511e+02] [-3.46343107e-01 9.37673264e-01 -2.85535038e-02 -3.16894130e+01] [-9.04746853e-02 -3.09171847e-03 9.95893957e-01 -2.02848673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.62629675700003 meters 0.07372132784453861 Centerline is valid? [True, True] Translation: X:171.38, Y:-31.70, Z:-20.29 [[ 9.33299149e-01 3.48650309e-01 8.59980246e-02 1.71377046e+02] [-3.47488930e-01 9.37247484e-01 -2.86111457e-02 -3.16996378e+01] [-9.05767170e-02 -3.18060365e-03 9.95884402e-01 -2.02880175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.65629675700004 meters 0.07336058137256936 Centerline is valid? [True, True] Translation: X:171.41, Y:-31.71, Z:-20.29 [[ 9.32975670e-01 3.49434426e-01 8.63248561e-02 1.71406681e+02] [-3.48265401e-01 9.36955195e-01 -2.87432256e-02 -3.17109007e+01] [-9.09263949e-02 -3.24723045e-03 9.95852321e-01 -2.02904797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.68629675700004 meters 0.07468600186257891 Centerline is valid? [True, True] Translation: X:171.44, Y:-31.72, Z:-20.30 [[ 9.32096232e-01 3.51989680e-01 8.54393278e-02 1.71437832e+02] [-3.50852757e-01 9.35997580e-01 -2.84758283e-02 -3.17151352e+01] [-8.99942017e-02 -3.43441148e-03 9.95936368e-01 -2.02961062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.71629675700004 meters 0.0752329521731596 Centerline is valid? [True, True] Translation: X:171.47, Y:-31.72, Z:-20.30 [[ 9.31016204e-01 3.54984915e-01 8.48206172e-02 1.71468885e+02] [-3.53876183e-01 9.34864745e-01 -2.82763946e-02 -3.17218963e+01] [-8.93334982e-02 -3.69021471e-03 9.95994934e-01 -2.03000768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.74629675700004 meters 0.0752444729182838 Centerline is valid? [True, True] Translation: X:171.50, Y:-31.73, Z:-20.30 [[ 9.30443966e-01 3.56721976e-01 8.38060755e-02 1.71499514e+02] [-3.55646156e-01 9.34202844e-01 -2.79438454e-02 -3.17313988e+01] [-8.82600578e-02 -3.80512626e-03 9.96090198e-01 -2.03036992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.776296757 meters 0.07604538904098232 Centerline is valid? [True, True] Translation: X:171.53, Y:-31.74, Z:-20.31 [[ 9.30059030e-01 3.58050293e-01 8.24026040e-02 1.71529349e+02] [-3.57015107e-01 9.33694318e-01 -2.74797159e-02 -3.17375312e+01] [-8.67779635e-02 -3.86121662e-03 9.96220195e-01 -2.03088598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.806296757 meters 0.0762872640584364 Centerline is valid? [True, True] Translation: X:171.56, Y:-31.75, Z:-20.31 [[ 9.30022377e-01 3.58561046e-01 8.05751493e-02 1.71560254e+02] [-3.57572138e-01 9.33498508e-01 -2.68831240e-02 -3.17466820e+01] [-8.48560227e-02 -3.80952151e-03 9.96385941e-01 -2.03127449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.836296757 meters 0.0763206869923833 Centerline is valid? [True, True] Translation: X:171.59, Y:-31.76, Z:-20.32 [[ 9.29943588e-01 3.58764432e-01 8.05791880e-02 1.71590815e+02] [-3.57774428e-01 9.33420363e-01 -2.69051044e-02 -3.17567289e+01] [-8.48668494e-02 -3.80894359e-03 9.96385021e-01 -2.03169649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.86629675700001 meters 0.07650398101170448 Centerline is valid? [True, True] Translation: X:171.62, Y:-31.76, Z:-20.32 [[ 9.30245842e-01 3.58545543e-01 7.80241408e-02 1.71620776e+02] [-3.57614594e-01 9.33505120e-01 -2.60766835e-02 -3.17648130e+01] [-8.21856136e-02 -3.64484504e-03 9.96610375e-01 -2.03219225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.89629675700002 meters 0.07613025534871874 Centerline is valid? [True, True] Translation: X:171.65, Y:-31.77, Z:-20.33 [[ 9.30445264e-01 3.58238045e-01 7.70526647e-02 1.71652106e+02] [-3.57327707e-01 9.33623509e-01 -2.57692382e-02 -3.17744190e+01] [-8.11697007e-02 -3.55618630e-03 9.96693952e-01 -2.03259538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.92629675700002 meters 0.07570744663622292 Centerline is valid? [True, True] Translation: X:171.68, Y:-31.79, Z:-20.33 [[ 9.30366756e-01 3.58504238e-01 7.67620394e-02 1.71682977e+02] [-3.57599772e-01 9.33521372e-01 -2.56953616e-02 -3.17855827e+01] [-8.08709004e-02 -3.54397757e-03 9.96718284e-01 -2.03281089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95629675700002 meters 0.07570744663622292 Centerline is valid? [True, True] Translation: X:171.71, Y:-31.80, Z:-20.33 [[ 9.30267206e-01 3.58764016e-01 7.67548428e-02 1.71713504e+02] [-3.57858663e-01 9.33421567e-01 -2.57168371e-02 -3.17959189e+01] [-8.08709014e-02 -3.54385522e-03 9.96718284e-01 -2.03317291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98629675700002 meters 0.07546835594198358 Centerline is valid? [True, True] Translation: X:171.74, Y:-31.81, Z:-20.33 [[ 9.30299363e-01 3.58612957e-01 7.70703682e-02 1.71743577e+02] [-3.57697576e-01 9.33479696e-01 -2.58476462e-02 -3.18061397e+01] [-8.12129248e-02 -3.52183510e-03 9.96690553e-01 -2.03347016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01629675700002 meters 0.07533826276365566 Centerline is valid? [True, True] Translation: X:171.77, Y:-31.81, Z:-20.34 [[ 9.29672393e-01 3.59724257e-01 7.94210300e-02 1.71774879e+02] [-3.58754275e-01 9.33051286e-01 -2.66583639e-02 -3.18147477e+01] [-8.36935543e-02 -3.70908915e-03 9.96484637e-01 -2.03369553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04629675700002 meters 0.07577289099209188 Centerline is valid? [True, True] Translation: X:171.81, Y:-31.82, Z:-20.34 [[ 9.29133644e-01 3.60966075e-01 8.00884739e-02 1.71805391e+02] [-3.59982388e-01 9.32571073e-01 -2.69048954e-02 -3.18222047e+01] [-8.43999486e-02 -3.83219655e-03 9.96424590e-01 -2.03407671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07629675700002 meters 0.07597828657183717 Centerline is valid? [True, True] Translation: X:171.84, Y:-31.83, Z:-20.34 [[ 9.28318764e-01 3.62860296e-01 8.09733211e-02 1.71836120e+02] [-3.61860122e-01 9.31834840e-01 -2.72228486e-02 -3.18291814e+01] [-8.53318526e-02 -4.02953476e-03 9.96344437e-01 -2.03440216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10629675700002 meters 0.07622364031204622 Centerline is valid? [True, True] Translation: X:171.87, Y:-31.84, Z:-20.35 [[ 9.27856586e-01 3.64041774e-01 8.09675475e-02 1.71866681e+02] [-3.63044265e-01 9.31373524e-01 -2.72437204e-02 -3.18370647e+01] [-8.53288824e-02 -4.11653838e-03 9.96344336e-01 -2.03481059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.13629675700003 meters 0.07618989578394321 Centerline is valid? [True, True] Translation: X:171.90, Y:-31.85, Z:-20.35 [[ 9.27283361e-01 3.65473165e-01 8.10859739e-02 1.71897115e+02] [-3.64477207e-01 9.30812202e-01 -2.72948743e-02 -3.18453270e+01] [-8.54513580e-02 -4.24390656e-03 9.96333305e-01 -2.03505886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.16629675700003 meters 0.07634672145418656 Centerline is valid? [True, True] Translation: X:171.93, Y:-31.85, Z:-20.35 [[ 9.27320406e-01 3.65527718e-01 8.04136293e-02 1.71928751e+02] [-3.64547860e-01 9.30790947e-01 -2.70752735e-02 -3.18548515e+01] [-8.47450411e-02 -4.20716283e-03 9.96393787e-01 -2.03546169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.19629675700003 meters 0.07618087824053767 Centerline is valid? [True, True] Translation: X:171.96, Y:-31.87, Z:-20.36 [[ 9.27338007e-01 3.65551930e-01 8.00999786e-02 1.71959386e+02] [-3.64577729e-01 9.30781606e-01 -2.69941166e-02 -3.18657791e+01] [-8.44233382e-02 -4.16999794e-03 9.96421252e-01 -2.03584710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.22629675700003 meters 0.07543320635903691 Centerline is valid? [True, True] Translation: X:171.99, Y:-31.88, Z:-20.36 [[ 9.27314939e-01 3.65889418e-01 7.88158477e-02 1.71988460e+02] [-3.64945352e-01 9.30649261e-01 -2.65865160e-02 -3.18782785e+01] [-8.30776352e-02 -4.10940387e-03 9.96534605e-01 -2.03608877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.25629675700003 meters 0.07584100960253655 Centerline is valid? [True, True] Translation: X:172.02, Y:-31.89, Z:-20.36 [[ 9.27559249e-01 3.65188586e-01 7.91905002e-02 1.72018119e+02] [-3.64231034e-01 9.30924776e-01 -2.67360190e-02 -3.18866998e+01] [-8.34840877e-02 -4.04439609e-03 9.96500903e-01 -2.03647479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.28629675700003 meters 0.07570161518579335 Centerline is valid? [True, True] Translation: X:172.05, Y:-31.90, Z:-20.37 [[ 9.27565881e-01 3.65104873e-01 7.94982237e-02 1.72048395e+02] [-3.64138733e-01 9.30957615e-01 -2.68496203e-02 -3.18970431e+01] [-8.38124040e-02 -4.04359075e-03 9.96473347e-01 -2.03681326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.31629675700003 meters 0.07621010855933812 Centerline is valid? [True, True] Translation: X:172.08, Y:-31.91, Z:-20.37 [[ 9.27585019e-01 3.65303071e-01 7.83562341e-02 1.72078232e+02] [-3.64363438e-01 9.30880124e-01 -2.64854737e-02 -3.19060083e+01] [-8.26154858e-02 -3.98261818e-03 9.96573540e-01 -2.03726928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.34629675700003 meters 0.07521056555847284 Centerline is valid? [True, True] Translation: X:172.11, Y:-31.92, Z:-20.38 [[ 9.28008778e-01 3.64405082e-01 7.75154438e-02 1.72107906e+02] [-3.63480478e-01 9.31232625e-01 -2.62247958e-02 -3.19198704e+01] [-8.17413590e-02 -3.83850984e-03 9.96646184e-01 -2.03750020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.37629675700003 meters 0.07535250559264808 Centerline is valid? [True, True] Translation: X:172.14, Y:-31.93, Z:-20.38 [[ 9.27998333e-01 3.64468301e-01 7.73430813e-02 1.72138928e+02] [-3.63547895e-01 9.31207903e-01 -2.61681022e-02 -3.19300307e+01] [-8.15599323e-02 -3.83395920e-03 9.96661065e-01 -2.03790497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.40629675700004 meters 0.07497368564569042 Centerline is valid? [True, True] Translation: X:172.17, Y:-31.94, Z:-20.38 [[ 9.28113878e-01 3.64139304e-01 7.75061117e-02 1.72169138e+02] [-3.63211407e-01 9.31336803e-01 -2.62532567e-02 -3.19420683e+01] [-8.17441369e-02 -3.78509197e-03 9.96646160e-01 -2.03819474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.43629675700004 meters 0.07513094971531407 Centerline is valid? [True, True] Translation: X:172.20, Y:-31.95, Z:-20.39 [[ 9.28267819e-01 3.63735448e-01 7.75588822e-02 1.72199257e+02] [-3.62804648e-01 9.31494748e-01 -2.62739671e-02 -3.19507385e+01] [-8.18024646e-02 -3.74944482e-03 9.96641509e-01 -2.03860628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.46629675700004 meters 0.07533304014264207 Centerline is valid? [True, True] Translation: X:172.23, Y:-31.96, Z:-20.39 [[ 9.27962807e-01 3.64400990e-01 7.80829558e-02 1.72230428e+02] [-3.63458225e-01 9.31234323e-01 -2.64717809e-02 -3.19602667e+01] [-8.23598717e-02 -3.81506442e-03 9.96595353e-01 -2.03895550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.49629675700004 meters 0.0758120356607868 Centerline is valid? [True, True] Translation: X:172.26, Y:-31.97, Z:-20.39 [[ 9.27611284e-01 3.65399833e-01 7.75903841e-02 1.72260746e+02] [-3.64470364e-01 9.30842681e-01 -2.63297900e-02 -3.19687175e+01] [-8.18453420e-02 -3.85558524e-03 9.96637584e-01 -2.03937889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.526296757 meters 0.07627117538928926 Centerline is valid? [True, True] Translation: X:172.29, Y:-31.98, Z:-20.40 [[ 9.27161347e-01 3.66405305e-01 7.82239736e-02 1.72290664e+02] [-3.65462093e-01 9.30446947e-01 -2.65694859e-02 -3.19760917e+01] [-8.25184580e-02 -3.95369682e-03 9.96581694e-01 -2.03982980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.556296757 meters 0.0762540087222475 Centerline is valid? [True, True] Translation: X:172.32, Y:-31.99, Z:-20.40 [[ 9.26762994e-01 3.67278208e-01 7.88484040e-02 1.72321476e+02] [-3.66322301e-01 9.30102289e-01 -2.67899986e-02 -3.19858672e+01] [-8.31764636e-02 -4.05594948e-03 9.96526580e-01 -2.04009933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.586296757 meters 0.07608536605505536 Centerline is valid? [True, True] Translation: X:172.35, Y:-32.00, Z:-20.40 [[ 9.26494566e-01 3.67955116e-01 7.88470138e-02 1.72351589e+02] [-3.66999920e-01 9.29834527e-01 -2.68106472e-02 -3.19955295e+01] [-8.31797906e-02 -4.09692876e-03 9.96526135e-01 -2.04040705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.61629675700001 meters 0.07649626904715566 Centerline is valid? [True, True] Translation: X:172.38, Y:-32.00, Z:-20.41 [[ 9.25798021e-01 3.69726649e-01 7.87415311e-02 1.72382504e+02] [-3.68778172e-01 9.29130965e-01 -2.68013093e-02 -3.20028267e+01] [-8.30703531e-02 -4.22555884e-03 9.96534726e-01 -2.04085954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.64629675700002 meters 0.07625210276603356 Centerline is valid? [True, True] Translation: X:172.41, Y:-32.01, Z:-20.41 [[ 9.25383620e-01 3.70665309e-01 7.91983862e-02 1.72413209e+02] [-3.69709107e-01 9.28756398e-01 -2.69579300e-02 -3.20128138e+01] [-8.35483773e-02 -4.33393785e-03 9.96494298e-01 -2.04108628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.67629675700002 meters 0.07649991263133801 Centerline is valid? [True, True] Translation: X:172.44, Y:-32.02, Z:-20.41 [[ 9.24894939e-01 3.71725199e-01 7.99357715e-02 1.72444598e+02] [-3.70753151e-01 9.28332144e-01 -2.72310846e-02 -3.20205806e+01] [-8.43294264e-02 -4.45054687e-03 9.96427991e-01 -2.04133834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70629675700002 meters 0.07685108719892264 Centerline is valid? [True, True] Translation: X:172.47, Y:-32.03, Z:-20.42 [[ 9.24703519e-01 3.72252752e-01 7.96949897e-02 1.72474026e+02] [-3.71286634e-01 9.28120660e-01 -2.71712522e-02 -3.20287311e+01] [-8.40811398e-02 -4.46433198e-03 9.96448911e-01 -2.04169666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73629675700002 meters 0.07707010492306962 Centerline is valid? [True, True] Translation: X:172.51, Y:-32.04, Z:-20.42 [[ 9.24492471e-01 3.72678807e-01 8.01509727e-02 1.72505145e+02] [-3.71701527e-01 9.27949438e-01 -2.73462227e-02 -3.20372633e+01] [-8.45674077e-02 -4.51086198e-03 9.96407550e-01 -2.04197140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76629675700002 meters 0.07733423371669511 Centerline is valid? [True, True] Translation: X:172.54, Y:-32.05, Z:-20.42 [[ 9.24478007e-01 3.72614342e-01 8.06161721e-02 1.72535617e+02] [-3.71623011e-01 9.27975354e-01 -2.75332523e-02 -3.20460680e+01] [-8.50691055e-02 -4.50493845e-03 9.96364869e-01 -2.04236688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79629675700002 meters 0.07636250333422866 Centerline is valid? [True, True] Translation: X:172.56, Y:-32.06, Z:-20.43 [[ 9.25046382e-01 3.71478999e-01 7.93255625e-02 1.72564944e+02] [-3.70514786e-01 9.28431275e-01 -2.70954076e-02 -3.20583217e+01] [-8.37137081e-02 -4.32678503e-03 9.96480453e-01 -2.04271344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82629675700002 meters 0.07479171125994265 Centerline is valid? [True, True] Translation: X:172.59, Y:-32.07, Z:-20.43 [[ 9.25608488e-01 3.70242072e-01 7.85476565e-02 1.72593764e+02] [-3.69290507e-01 9.28926023e-01 -2.68507977e-02 -3.20736741e+01] [-8.29062571e-02 -4.15357763e-03 9.96548694e-01 -2.04290055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85629675700002 meters 0.07433900219468646 Centerline is valid? [True, True] Translation: X:172.62, Y:-32.09, Z:-20.43 [[ 9.27015244e-01 3.66929364e-01 7.74956689e-02 1.72621248e+02] [-3.65989688e-01 9.30241113e-01 -2.65145089e-02 -3.20865075e+01] [-8.18186092e-02 -3.78326178e-03 9.96640056e-01 -2.04334160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.88629675700003 meters 0.07335172385533568 Centerline is valid? [True, True] Translation: X:172.65, Y:-32.10, Z:-20.44 [[ 9.28921439e-01 3.62199159e-01 7.69202738e-02 1.72649375e+02] [-3.61255854e-01 9.32094797e-01 -2.63343333e-02 -3.21011384e+01] [-8.12352604e-02 -3.32537238e-03 9.96689407e-01 -2.04370617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.91629675700003 meters 0.07278885735253439 Centerline is valid? [True, True] Translation: X:172.68, Y:-32.11, Z:-20.44 [[ 9.29591661e-01 3.60293548e-01 7.77682671e-02 1.72678571e+02] [-3.59321176e-01 9.32833568e-01 -2.66425832e-02 -3.21142803e+01] [-8.21440008e-02 -3.17706206e-03 9.96615407e-01 -2.04394904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.94629675700003 meters 0.0731492177574225 Centerline is valid? [True, True] Translation: X:172.71, Y:-32.12, Z:-20.44 [[ 9.30229470e-01 3.58519873e-01 7.83366631e-02 1.72707035e+02] [-3.57526787e-01 9.33517142e-01 -2.68392031e-02 -3.21233402e+01] [-8.27510055e-02 -3.04083776e-03 9.96565615e-01 -2.04436300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.97629675700003 meters 0.07197630367357497 Centerline is valid? [True, True] Translation: X:172.74, Y:-32.14, Z:-20.44 [[ 9.30856589e-01 3.56330389e-01 8.08372705e-02 1.72735273e+02] [-3.55263467e-01 9.34355443e-01 -2.77087468e-02 -3.21372518e+01] [-8.54042122e-02 -2.92565944e-03 9.96342090e-01 -2.04439799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.00629675700003 meters 0.07155076936635348 Centerline is valid? [True, True] Translation: X:172.77, Y:-32.15, Z:-20.45 [[ 9.30676045e-01 3.56769229e-01 8.09803402e-02 1.72765668e+02] [-3.55698957e-01 9.34187865e-01 -2.77719973e-02 -3.21495409e+01] [-8.55590452e-02 -2.95788993e-03 9.96328711e-01 -2.04455210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.03629675700003 meters 0.07170988197843116 Centerline is valid? [True, True] Translation: X:172.80, Y:-32.16, Z:-20.45 [[ 9.30140746e-01 3.57787113e-01 8.26230939e-02 1.72795122e+02] [-3.56674421e-01 9.33798078e-01 -2.83638137e-02 -3.21583478e+01] [-8.73014933e-02 -3.08720535e-03 9.96177152e-01 -2.04484838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.06629675700003 meters 0.07269818129346536 Centerline is valid? [True, True] Translation: X:172.83, Y:-32.16, Z:-20.45 [[ 9.29392929e-01 3.60206117e-01 8.05005354e-02 1.72825695e+02] [-3.59157248e-01 9.32867221e-01 -2.76553726e-02 -3.21637878e+01] [-8.50579451e-02 -3.20964303e-03 9.96370837e-01 -2.04547115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.09629675700003 meters 0.08021752413022822 Centerline is valid? [True, True] Translation: X:172.86, Y:-32.15, Z:-20.47 [[ 9.28511913e-01 3.61601879e-01 8.43190835e-02 1.72861056e+02] [-3.60454756e-01 9.32326121e-01 -2.89891915e-02 -3.21520286e+01] [-8.90954301e-02 -3.47640497e-03 9.96017027e-01 -2.04697105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.12629675700003 meters 0.07333739015529302 Centerline is valid? [True, True] Translation: X:172.89, Y:-32.18, Z:-20.46 [[ 9.28076584e-01 3.63835262e-01 7.93584071e-02 1.72885464e+02] [-3.62825886e-01 9.31456905e-01 -2.73021889e-02 -3.21806597e+01] [-8.38524353e-02 -3.45476222e-03 9.96472194e-01 -2.04625824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.15629675700004 meters 0.07405933276233409 Centerline is valid? [True, True] Translation: X:172.92, Y:-32.19, Z:-20.47 [[ 9.26914198e-01 3.67310623e-01 7.68958822e-02 1.72915940e+02] [-3.66373035e-01 9.30091248e-01 -2.64777290e-02 -3.21882404e+01] [-8.12457382e-02 -3.62999479e-03 9.96687490e-01 -2.04663645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.18629675700004 meters 0.07401525773244674 Centerline is valid? [True, True] Translation: X:172.95, Y:-32.20, Z:-20.47 [[ 9.26262922e-01 3.69043426e-01 7.64457324e-02 1.72946229e+02] [-3.68122262e-01 9.29404568e-01 -2.63277406e-02 -3.21986588e+01] [-8.07650924e-02 -3.75496606e-03 9.96726091e-01 -2.04688190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.21629675700004 meters 0.07460369764295044 Centerline is valid? [True, True] Translation: X:172.98, Y:-32.21, Z:-20.47 [[ 9.25241696e-01 3.71857133e-01 7.51669872e-02 1.72977256e+02] [-3.70975312e-01 9.28281664e-01 -2.58934360e-02 -3.22056496e+01] [-7.94047948e-02 -3.92740985e-03 9.96834717e-01 -2.04733679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.24629675700004 meters 0.07556818131684631 Centerline is valid? [True, True] Translation: X:173.01, Y:-32.21, Z:-20.48 [[ 9.24355312e-01 3.74205122e-01 7.44162824e-02 1.73007687e+02] [-3.73348420e-01 9.27336950e-01 -2.56347323e-02 -3.22103685e+01] [-7.86016164e-02 -4.08760041e-03 9.96897727e-01 -2.04793285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.276296757 meters 0.0756055588002986 Centerline is valid? [True, True] Translation: X:173.04, Y:-32.22, Z:-20.48 [[ 9.24230754e-01 3.74661621e-01 7.36626328e-02 1.73037855e+02] [-3.73822289e-01 9.27152695e-01 -2.53924492e-02 -3.22202449e+01] [-7.78100847e-02 -4.06825158e-03 9.96959899e-01 -2.04819931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.306296757 meters 0.07480369355119154 Centerline is valid? [True, True] Translation: X:173.07, Y:-32.23, Z:-20.48 [[ 9.24445005e-01 3.74221083e-01 7.32121164e-02 1.73067293e+02] [-3.73389092e-01 9.27330942e-01 -2.52568557e-02 -3.22319466e+01] [-7.73435088e-02 -3.98803166e-03 9.96996528e-01 -2.04839617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.336296757 meters 0.07456433271504519 Centerline is valid? [True, True] Translation: X:173.10, Y:-32.24, Z:-20.49 [[ 9.24837972e-01 3.73139152e-01 7.37692337e-02 1.73096750e+02] [-3.72289290e-01 9.27767164e-01 -2.54710574e-02 -3.22429324e+01] [-7.79449214e-02 -3.90689455e-03 9.96950011e-01 -2.04863852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.36629675700001 meters 0.07406947665035388 Centerline is valid? [True, True] Translation: X:173.13, Y:-32.25, Z:-20.49 [[ 9.25499213e-01 3.71322664e-01 7.46370279e-02 1.73126209e+02] [-3.70444909e-01 9.28496214e-01 -2.57943866e-02 -3.22547745e+01] [-7.88782382e-02 -3.77622253e-03 9.96877106e-01 -2.04892506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.39629675700002 meters 0.07352885005674531 Centerline is valid? [True, True] Translation: X:173.15, Y:-32.27, Z:-20.49 [[ 9.26622366e-01 3.68090208e-01 7.66850088e-02 1.73154633e+02] [-3.67152502e-01 9.29783124e-01 -2.65024905e-02 -3.22659669e+01] [-8.10557343e-02 -3.59729241e-03 9.96703079e-01 -2.04918597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.42629675700002 meters 0.07292292175743847 Centerline is valid? [True, True] Translation: X:173.18, Y:-32.28, Z:-20.49 [[ 9.27308705e-01 3.66171863e-01 7.75676030e-02 1.73183691e+02] [-3.65204314e-01 9.30540833e-01 -2.68247482e-02 -3.22779338e+01] [-8.20022900e-02 -3.45320071e-03 9.96626159e-01 -2.04941002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45629675700002 meters 0.07264071975102507 Centerline is valid? [True, True] Translation: X:173.21, Y:-32.29, Z:-20.50 [[ 9.28316478e-01 3.63188319e-01 7.95157932e-02 1.73212163e+02] [-3.62159149e-01 9.31710070e-01 -2.75153913e-02 -3.22877326e+01] [-8.40789339e-02 -3.25438088e-03 9.96453783e-01 -2.04984061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48629675700002 meters 0.07174242988409972 Centerline is valid? [True, True] Translation: X:173.24, Y:-32.30, Z:-20.50 [[ 9.29232100e-01 3.60657269e-01 8.03370353e-02 1.73240431e+02] [-3.59595840e-01 9.32693458e-01 -2.78162783e-02 -3.23006135e+01] [-8.49619702e-02 -3.04108504e-03 9.96379554e-01 -2.05012841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51629675700002 meters 0.07115801676726971 Centerline is valid? [True, True] Translation: X:173.27, Y:-32.31, Z:-20.50 [[ 9.29269031e-01 3.60362923e-01 8.12258109e-02 1.73270062e+02] [-3.59275433e-01 9.32807247e-01 -2.81389997e-02 -3.23136066e+01] [-8.59082773e-02 -3.03373739e-03 9.96298431e-01 -2.05031518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54629675700002 meters 0.07220449224382117 Centerline is valid? [True, True] Translation: X:173.30, Y:-32.32, Z:-20.51 [[ 9.29320983e-01 3.59924406e-01 8.25647159e-02 1.73300046e+02] [-3.58796873e-01 9.32976580e-01 -2.86269850e-02 -3.23192494e+01] [-8.73344968e-02 -3.02030409e-03 9.96174464e-01 -2.05097765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57629675700002 meters 0.0712935128422871 Centerline is valid? [True, True] Translation: X:173.33, Y:-32.33, Z:-20.51 [[ 9.28922523e-01 3.60585364e-01 8.41495206e-02 1.73329124e+02] [-3.59414808e-01 9.32720993e-01 -2.91983599e-02 -3.23324687e+01] [-8.90165257e-02 -3.12156973e-03 9.96025258e-01 -2.05102664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60629675700002 meters 0.07160966034830535 Centerline is valid? [True, True] Translation: X:173.36, Y:-32.34, Z:-20.51 [[ 9.28473272e-01 3.61767543e-01 8.40334895e-02 1.73360331e+02] [-3.60602942e-01 9.32262812e-01 -2.91816234e-02 -3.23409865e+01] [-8.88982614e-02 -3.20836618e-03 9.96035544e-01 -2.05138995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.63629675700003 meters 0.07163257125283075 Centerline is valid? [True, True] Translation: X:173.39, Y:-32.35, Z:-20.52 [[ 9.28226349e-01 3.62347309e-01 8.42631139e-02 1.73391605e+02] [-3.61176664e-01 9.32037475e-01 -2.92841615e-02 -3.23511629e+01] [-8.91474170e-02 -3.25154013e-03 9.96013135e-01 -2.05180160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.66629675700003 meters 0.07234198098969928 Centerline is valid? [True, True] Translation: X:173.42, Y:-32.36, Z:-20.52 [[ 9.27805521e-01 3.63553654e-01 8.36998000e-02 1.73421567e+02] [-3.62401061e-01 9.31567349e-01 -2.91160546e-02 -3.23586811e+01] [-8.85572489e-02 -3.31886019e-03 9.96065560e-01 -2.05224913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.69629675700003 meters 0.07271123275540167 Centerline is valid? [True, True] Translation: X:173.45, Y:-32.37, Z:-20.53 [[ 9.27197084e-01 3.65771070e-01 8.07285071e-02 1.73451407e+02] [-3.64705064e-01 9.30698718e-01 -2.81089522e-02 -3.23693785e+01] [-8.54153595e-02 -3.37955681e-03 9.96339699e-01 -2.05262948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.72629675700003 meters 0.07322887658496403 Centerline is valid? [True, True] Translation: X:173.48, Y:-32.38, Z:-20.53 [[ 9.26870772e-01 3.66560707e-01 8.08938851e-02 1.73480766e+02] [-3.65493180e-01 9.30387710e-01 -2.81681430e-02 -3.23777482e+01] [-8.55880109e-02 -3.45793491e-03 9.96324613e-01 -2.05315657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.75629675700003 meters 0.07431201168523072 Centerline is valid? [True, True] Translation: X:173.51, Y:-32.38, Z:-20.54 [[ 9.26553521e-01 3.67546269e-01 8.00519432e-02 1.73510701e+02] [-3.66502578e-01 9.29998688e-01 -2.78980521e-02 -3.23848203e+01] [-8.47020271e-02 -3.49020518e-03 9.96400213e-01 -2.05390719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.78629675700003 meters 0.07366322610388788 Centerline is valid? [True, True] Translation: X:173.54, Y:-32.40, Z:-20.54 [[ 9.26289912e-01 3.68071888e-01 8.06850901e-02 1.73540488e+02] [-3.67012973e-01 9.29790521e-01 -2.81258682e-02 -3.23984782e+01] [-8.53725734e-02 -3.55976676e-03 9.96342738e-01 -2.05414334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.81629675700003 meters 0.07376453284598487 Centerline is valid? [True, True] Translation: X:173.57, Y:-32.41, Z:-20.54 [[ 9.26494599e-01 3.67528441e-01 8.08121397e-02 1.73570454e+02] [-3.66461891e-01 9.30005730e-01 -2.81961763e-02 -3.24096910e+01] [-8.55186497e-02 -3.49096446e-03 9.96330454e-01 -2.05448545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.84629675700003 meters 0.07376453284598487 Centerline is valid? [True, True] Translation: X:173.60, Y:-32.42, Z:-20.55 [[ 9.26393703e-01 3.67784109e-01 8.08056747e-02 1.73600852e+02] [-3.66716916e-01 9.29904638e-01 -2.82146898e-02 -3.24204002e+01] [-8.55184862e-02 -3.49489687e-03 9.96330454e-01 -2.05484720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.87629675700003 meters 0.07374875231155945 Centerline is valid? [True, True] Translation: X:173.63, Y:-32.43, Z:-20.55 [[ 9.26595932e-01 3.67045459e-01 8.18389253e-02 1.73630226e+02] [-3.65945574e-01 9.30196622e-01 -2.86021164e-02 -3.24320320e+01] [-8.66245688e-02 -3.44598776e-03 9.96235067e-01 -2.05526812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.90629675700004 meters 0.0727522060126274 Centerline is valid? [True, True] Translation: X:173.66, Y:-32.45, Z:-20.55 [[ 9.27376890e-01 3.64729490e-01 8.33336895e-02 1.73657608e+02] [-3.63577531e-01 9.31107797e-01 -2.91487411e-02 -3.24484319e+01] [-8.82240535e-02 -3.26638822e-03 9.96095300e-01 -2.05538514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.93629675700004 meters 0.07255812792341056 Centerline is valid? [True, True] Translation: X:173.68, Y:-32.46, Z:-20.56 [[ 9.27901243e-01 3.63166211e-01 8.43183658e-02 1.73684878e+02] [-3.61978758e-01 9.31719087e-01 -2.95113796e-02 -3.24606413e+01] [-8.92785667e-02 -3.13781151e-03 9.96001753e-01 -2.05568390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.96629675700004 meters 0.07126646699130702 Centerline is valid? [True, True] Translation: X:173.71, Y:-32.48, Z:-20.56 [[ 9.29070103e-01 3.59957277e-01 8.52027163e-02 1.73712121e+02] [-3.58729811e-01 9.32964453e-01 -2.98371008e-02 -3.24788816e+01] [-9.02311871e-02 -2.84399600e-03 9.95916786e-01 -2.05571113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.99629675700004 meters 0.0713685583209744 Centerline is valid? [True, True] Translation: X:173.74, Y:-32.49, Z:-20.56 [[ 9.29379255e-01 3.58852590e-01 8.64813274e-02 1.73741548e+02] [-3.57582699e-01 9.33390126e-01 -3.02900295e-02 -3.24896290e+01] [-9.15904726e-02 -2.77330137e-03 9.95792897e-01 -2.05616219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.026296757 meters 0.07114380109251374 Centerline is valid? [True, True] Translation: X:173.77, Y:-32.50, Z:-20.56 [[ 9.30050851e-01 3.57001078e-01 8.69232128e-02 1.73770811e+02] [-3.55707829e-01 9.34100405e-01 -3.04692311e-02 -3.25031107e+01] [-9.20725566e-02 -2.58133299e-03 9.95748955e-01 -2.05642168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.056296757 meters 0.0711945438986168 Centerline is valid? [True, True] Translation: X:173.80, Y:-32.51, Z:-20.57 [[ 9.29814369e-01 3.57179850e-01 8.87005907e-02 1.73800794e+02] [-3.55831525e-01 9.34031928e-01 -3.11172538e-02 -3.25141734e+01] [-9.39636398e-02 -2.62919681e-03 9.95572158e-01 -2.05679122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.086296757 meters 0.0721104858426184 Centerline is valid? [True, True] Translation: X:173.83, Y:-32.52, Z:-20.57 [[ 9.29450126e-01 3.58053539e-01 8.89950935e-02 1.73830750e+02] [-3.56697862e-01 9.33697143e-01 -3.12454809e-02 -3.25206432e+01] [-9.42820196e-02 -2.70324343e-03 9.95541859e-01 -2.05732821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.11629675700001 meters 0.07166668363404881 Centerline is valid? [True, True] Translation: X:173.86, Y:-32.53, Z:-20.58 [[ 9.29339658e-01 3.58332561e-01 8.90256998e-02 1.73861398e+02] [-3.56975168e-01 9.33590071e-01 -3.12779382e-02 -3.25340494e+01] [-9.43214131e-02 -2.71213575e-03 9.95538103e-01 -2.05752429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.14629675700002 meters 0.0718020689225944 Centerline is valid? [True, True] Translation: X:173.89, Y:-32.54, Z:-20.58 [[ 9.28956550e-01 3.59313817e-01 8.90691264e-02 1.73890925e+02] [-3.57956869e-01 9.33212633e-01 -3.13219154e-02 -3.25436349e+01] [-9.43748309e-02 -2.78620709e-03 9.95532836e-01 -2.05792819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.17629675700002 meters 0.07236942163319615 Centerline is valid? [True, True] Translation: X:173.92, Y:-32.55, Z:-20.58 [[ 9.28166406e-01 3.61324686e-01 8.91717082e-02 1.73920855e+02] [-3.59971706e-01 9.32435324e-01 -3.13805278e-02 -3.25512935e+01] [-9.44854100e-02 -2.97294021e-03 9.95521807e-01 -2.05827522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20629675700002 meters 0.07298960547076457 Centerline is valid? [True, True] Translation: X:173.95, Y:-32.56, Z:-20.59 [[ 9.27748912e-01 3.62830077e-01 8.73858756e-02 1.73950359e+02] [-3.61535409e-01 9.31850353e-01 -3.07744595e-02 -3.25586792e+01] [-9.25964586e-02 -3.04211692e-03 9.95699072e-01 -2.05883598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23629675700002 meters 0.0732887782974647 Centerline is valid? [True, True] Translation: X:173.98, Y:-32.57, Z:-20.59 [[ 9.27586892e-01 3.63482856e-01 8.63873322e-02 1.73980207e+02] [-3.62219011e-01 9.31595873e-01 -3.04387450e-02 -3.25678787e+01] [-9.15420441e-02 -3.05655325e-03 9.95796521e-01 -2.05933629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26629675700002 meters 0.07369478453768431 Centerline is valid? [True, True] Translation: X:174.01, Y:-32.58, Z:-20.60 [[ 9.27676686e-01 3.63907240e-01 8.35911903e-02 1.74010121e+02] [-3.62724946e-01 9.31430398e-01 -2.94623115e-02 -3.25776648e+01] [-8.85809241e-02 -2.98911051e-03 9.96064498e-01 -2.06001539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29629675700002 meters 0.0737932177186867 Centerline is valid? [True, True] Translation: X:174.04, Y:-32.59, Z:-20.61 [[ 9.27823723e-01 3.63903963e-01 8.19575797e-02 1.74038959e+02] [-3.62765671e-01 9.31431927e-01 -2.89073200e-02 -3.25885856e+01] [-8.68573947e-02 -2.91049915e-03 9.96216504e-01 -2.06051724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32629675700002 meters 0.07387746568742583 Centerline is valid? [True, True] Translation: X:174.07, Y:-32.60, Z:-20.61 [[ 9.28041150e-01 3.63367068e-01 8.18779488e-02 1.74068096e+02] [-3.62227199e-01 9.31641730e-01 -2.88988486e-02 -3.26012958e+01] [-8.67818037e-02 -2.83909936e-03 9.96223297e-01 -2.06099950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35629675700002 meters 0.07343828056406146 Centerline is valid? [True, True] Translation: X:174.10, Y:-32.61, Z:-20.61 [[ 9.28442607e-01 3.62312435e-01 8.20001569e-02 1.74095739e+02] [-3.61163149e-01 9.32052723e-01 -2.89637917e-02 -3.26146677e+01] [-8.69224115e-02 -2.72421661e-03 9.96211360e-01 -2.06136856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.38629675700003 meters 0.07332725111577265 Centerline is valid? [True, True] Translation: X:174.13, Y:-32.63, Z:-20.62 [[ 9.28635601e-01 3.61726264e-01 8.24016427e-02 1.74125840e+02] [-3.60561434e-01 9.32280551e-01 -2.91277662e-02 -3.26268315e+01] [-8.73577269e-02 -2.66177383e-03 9.96173450e-01 -2.06169190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.41629675700003 meters 0.07296980361135848 Centerline is valid? [True, True] Translation: X:174.16, Y:-32.64, Z:-20.62 [[ 9.28708573e-01 3.61362299e-01 8.31725579e-02 1.74155084e+02] [-3.60173285e-01 9.32421739e-01 -2.94092869e-02 -3.26394049e+01] [-8.81793086e-02 -2.64387656e-03 9.96101109e-01 -2.06199723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.44629675700003 meters 0.07305924722319689 Centerline is valid? [True, True] Translation: X:174.18, Y:-32.65, Z:-20.62 [[ 9.28453998e-01 3.61658435e-01 8.47133448e-02 1.74184336e+02] [-3.60424112e-01 9.32306752e-01 -2.99763002e-02 -3.26508892e+01] [-8.98200052e-02 -2.70111634e-03 9.95954352e-01 -2.06237288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.47629675700003 meters 0.07311541621016042 Centerline is valid? [True, True] Translation: X:174.21, Y:-32.66, Z:-20.63 [[ 9.28318721e-01 3.61844709e-01 8.53976512e-02 1.74214222e+02] [-3.60589117e-01 9.32234415e-01 -3.02404392e-02 -3.26613066e+01] [-9.05529723e-02 -2.72069780e-03 9.95887924e-01 -2.06274941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.50629675700003 meters 0.07262268269253269 Centerline is valid? [True, True] Translation: X:174.24, Y:-32.67, Z:-20.63 [[ 9.27732531e-01 3.63191911e-01 8.60464257e-02 1.74243996e+02] [-3.61920945e-01 9.31709982e-01 -3.04916197e-02 -3.26747422e+01] [-9.12446234e-02 -2.85393622e-03 9.95824419e-01 -2.06284105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.53629675700003 meters 0.07276860459061567 Centerline is valid? [True, True] Translation: X:174.27, Y:-32.69, Z:-20.63 [[ 9.27114954e-01 3.64532535e-01 8.70281146e-02 1.74274150e+02] [-3.63236087e-01 9.31185824e-01 -3.08626874e-02 -3.26852943e+01] [-9.22898004e-02 -2.99849282e-03 9.95727675e-01 -2.06307866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.56629675700003 meters 0.07395236443281997 Centerline is valid? [True, True] Translation: X:174.31, Y:-32.69, Z:-20.64 [[ 9.26993265e-01 3.64892173e-01 8.68169829e-02 1.74305819e+02] [-3.63601477e-01 9.31044934e-01 -3.08106644e-02 -3.26911674e+01] [-9.20730824e-02 -3.00550487e-03 9.95747716e-01 -2.06368653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.59629675700003 meters 0.07309602531179725 Centerline is valid? [True, True] Translation: X:174.33, Y:-32.71, Z:-20.64 [[ 9.26578880e-01 3.65835238e-01 8.72706029e-02 1.74334400e+02] [-3.64532760e-01 9.30674498e-01 -3.09974944e-02 -3.27053338e+01] [-9.25605003e-02 -3.09137014e-03 9.95702263e-01 -2.06379129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.62629675700003 meters 0.07474503715099341 Centerline is valid? [True, True] Translation: X:174.37, Y:-32.71, Z:-20.64 [[ 9.26122296e-01 3.66665709e-01 8.86213881e-02 1.74366248e+02] [-3.65324257e-01 9.30347245e-01 -3.14990767e-02 -3.27098719e+01] [-9.39982955e-02 -3.20354551e-03 9.95567204e-01 -2.06429641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.65629675700004 meters 0.07490965967821535 Centerline is valid? [True, True] Translation: X:174.40, Y:-32.72, Z:-20.65 [[ 9.25975379e-01 3.67024724e-01 8.86704537e-02 1.74397432e+02] [-3.65681017e-01 9.30205620e-01 -3.15419964e-02 -3.27205110e+01] [-9.40584469e-02 -3.21798962e-03 9.95561476e-01 -2.06460924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.68629675700004 meters 0.07533762003427545 Centerline is valid? [True, True] Translation: X:174.43, Y:-32.73, Z:-20.65 [[ 9.25960295e-01 3.67255881e-01 8.78672256e-02 1.74426536e+02] [-3.65935125e-01 9.30114484e-01 -3.12814878e-02 -3.27296337e+01] [-9.32148895e-02 -3.18828855e-03 9.95640909e-01 -2.06498666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.71629675700004 meters 0.07555861366738044 Centerline is valid? [True, True] Translation: X:174.46, Y:-32.74, Z:-20.65 [[ 9.25811495e-01 3.67932177e-01 8.65966995e-02 1.74456734e+02] [-3.66650604e-01 9.29847154e-01 -3.08481017e-02 -3.27397950e+01] [-9.18717038e-02 -3.19120498e-03 9.95765739e-01 -2.06544441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.74629675700004 meters 0.0761173168664386 Centerline is valid? [True, True] Translation: X:174.49, Y:-32.75, Z:-20.66 [[ 9.25893724e-01 3.68327040e-01 8.40000224e-02 1.74486066e+02] [-3.67120939e-01 9.29691081e-01 -2.99451173e-02 -3.27475274e+01] [-8.91236681e-02 -3.11217088e-03 9.96015706e-01 -2.06603738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.77629675700004 meters 0.07660376456404139 Centerline is valid? [True, True] Translation: X:174.52, Y:-32.76, Z:-20.66 [[ 9.25829265e-01 3.68632155e-01 8.33696925e-02 1.74516707e+02] [-3.67444682e-01 9.29570146e-01 -2.97279077e-02 -3.27571908e+01] [-8.84566400e-02 -3.11078318e-03 9.96075171e-01 -2.06649166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.806296757 meters 0.07398565469079546 Centerline is valid? [True, True] Translation: X:174.54, Y:-32.78, Z:-20.66 [[ 9.26144866e-01 3.68473118e-01 8.05186161e-02 1.74543482e+02] [-3.67363458e-01 9.29633652e-01 -2.87291258e-02 -3.27775235e+01] [-8.54387257e-02 -2.97226491e-03 9.96338993e-01 -2.06625101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.836296757 meters 0.07725538695292805 Centerline is valid? [True, True] Translation: X:174.57, Y:-32.78, Z:-20.68 [[ 9.26200887e-01 3.68624246e-01 7.91712227e-02 1.74574960e+02] [-3.67550334e-01 9.29573910e-01 -2.82683073e-02 -3.27769154e+01] [-8.40158865e-02 -2.91727806e-03 9.96460145e-01 -2.06756427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.86629675700001 meters 0.07435496080649681 Centerline is valid? [True, True] Translation: X:174.60, Y:-32.80, Z:-20.67 [[ 9.26591982e-01 3.67932013e-01 7.78031714e-02 1.74603241e+02] [-3.66891045e-01 9.29848514e-01 -2.77975207e-02 -3.27984231e+01] [-8.25727611e-02 -2.78832704e-03 9.96581138e-01 -2.06719243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.89629675700002 meters 0.0743688511640863 Centerline is valid? [True, True] Translation: X:174.63, Y:-32.81, Z:-20.68 [[ 9.26769619e-01 3.67623744e-01 7.71417955e-02 1.74634063e+02] [-3.66597411e-01 9.29970651e-01 -2.75849083e-02 -3.28096685e+01] [-8.18804731e-02 -2.71512758e-03 9.96638458e-01 -2.06758516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.92629675700002 meters 0.07433047672980787 Centerline is valid? [True, True] Translation: X:174.66, Y:-32.82, Z:-20.68 [[ 9.27140229e-01 3.66657814e-01 7.72854727e-02 1.74663082e+02] [-3.65621985e-01 9.30352215e-01 -2.76644293e-02 -3.28211545e+01] [-8.20460898e-02 -2.60846263e-03 9.96625123e-01 -2.06802065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95629675700002 meters 0.07385848222150529 Centerline is valid? [True, True] Translation: X:174.69, Y:-32.83, Z:-20.68 [[ 9.27359141e-01 3.66076638e-01 7.74139379e-02 1.74692481e+02] [-3.65034623e-01 9.30581203e-01 -2.77190940e-02 -3.28347713e+01] [-8.21872683e-02 -2.55321243e-03 9.96613633e-01 -2.06820185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98629675700002 meters 0.0738048313159035 Centerline is valid? [True, True] Translation: X:174.72, Y:-32.85, Z:-20.69 [[ 9.27555714e-01 3.65520279e-01 7.76873391e-02 1.74721380e+02] [-3.64467124e-01 9.30800040e-01 -2.78388584e-02 -3.28461426e+01] [-8.24870456e-02 -2.49238880e-03 9.96589020e-01 -2.06854815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01629675700002 meters 0.07340058228549215 Centerline is valid? [True, True] Translation: X:174.75, Y:-32.86, Z:-20.69 [[ 9.27590368e-01 3.65244167e-01 7.85672212e-02 1.74750889e+02] [-3.64164374e-01 9.30908459e-01 -2.81735626e-02 -3.28581997e+01] [-8.34291202e-02 -2.47785765e-03 9.96510633e-01 -2.06878717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04629675700002 meters 0.07366785124203541 Centerline is valid? [True, True] Translation: X:174.78, Y:-32.87, Z:-20.69 [[ 9.27255565e-01 3.66039507e-01 7.88174831e-02 1.74781489e+02] [-3.64953889e-01 9.30595852e-01 -2.82846149e-02 -3.28676204e+01] [-8.37005093e-02 -2.53768047e-03 9.96487724e-01 -2.06930001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07629675700002 meters 0.07361675292625465 Centerline is valid? [True, True] Translation: X:174.81, Y:-32.88, Z:-20.70 [[ 9.26888423e-01 3.66836706e-01 7.94272183e-02 1.74812201e+02] [-3.65735164e-01 9.30281692e-01 -2.85265229e-02 -3.28795627e+01] [-8.43542627e-02 -2.60842289e-03 9.96432413e-01 -2.06960025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10629675700002 meters 0.07348068790351803 Centerline is valid? [True, True] Translation: X:174.84, Y:-32.89, Z:-20.70 [[ 9.26386368e-01 3.68032517e-01 7.97518911e-02 1.74842009e+02] [-3.66924138e-01 9.29808988e-01 -2.86691947e-02 -3.28908067e+01] [-8.47052211e-02 -2.70414276e-03 9.96402385e-01 -2.06989933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.13629675700003 meters 0.07383239181737201 Centerline is valid? [True, True] Translation: X:174.87, Y:-32.90, Z:-20.70 [[ 9.26046138e-01 3.68875271e-01 7.98096819e-02 1.74871296e+02] [-3.67766492e-01 9.29474800e-01 -2.87124183e-02 -3.28997051e+01] [-8.47723892e-02 -2.76230271e-03 9.96396513e-01 -2.07032372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.16629675700003 meters 0.07325121821172026 Centerline is valid? [True, True] Translation: X:174.90, Y:-32.91, Z:-20.70 [[ 9.25469828e-01 3.69962888e-01 8.14435969e-02 1.74901482e+02] [-3.68810573e-01 9.29042002e-01 -2.93209681e-02 -3.29117437e+01] [-8.65121924e-02 -2.90158838e-03 9.96246567e-01 -2.07047967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.19629675700003 meters 0.07322790795198697 Centerline is valid? [True, True] Translation: X:174.93, Y:-32.92, Z:-20.71 [[ 9.25208351e-01 3.70657872e-01 8.12542201e-02 1.74932090e+02] [-3.69511663e-01 9.28764827e-01 -2.92750098e-02 -3.29221921e+01] [-8.63170745e-02 -2.93889844e-03 9.96263382e-01 -2.07082135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.22629675700003 meters 0.07373347892531079 Centerline is valid? [True, True] Translation: X:174.96, Y:-32.93, Z:-20.71 [[ 9.24480976e-01 3.72713158e-01 8.01238258e-02 1.74961851e+02] [-3.71604472e-01 9.27941539e-01 -2.88897402e-02 -3.29292429e+01] [-8.51178125e-02 -3.06635675e-03 9.96366175e-01 -2.07141965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.25629675700003 meters 0.07365859022940949 Centerline is valid? [True, True] Translation: X:174.99, Y:-32.94, Z:-20.72 [[ 9.24168259e-01 3.73779538e-01 7.87520515e-02 1.74992112e+02] [-3.72710799e-01 9.27512423e-01 -2.84141822e-02 -3.29397395e+01] [-8.36641460e-02 -3.09225477e-03 9.96489212e-01 -2.07176971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.28629675700003 meters 0.07382185926662387 Centerline is valid? [True, True] Translation: X:175.02, Y:-32.95, Z:-20.72 [[ 9.23702828e-01 3.75274564e-01 7.70849326e-02 1.75022392e+02] [-3.74254201e-01 9.26908377e-01 -2.78325826e-02 -3.29475576e+01] [-8.18955301e-02 -3.14032463e-03 9.96635972e-01 -2.07229692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.31629675700003 meters 0.07313553563547802 Centerline is valid? [True, True] Translation: X:175.05, Y:-32.96, Z:-20.72 [[ 9.23485132e-01 3.75862411e-01 7.68287571e-02 1.75052271e+02] [-3.74849349e-01 9.26670078e-01 -2.77584709e-02 -3.29603231e+01] [-8.16282761e-02 -3.16467443e-03 9.96657820e-01 -2.07244445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.34629675700003 meters 0.0732566973576898 Centerline is valid? [True, True] Translation: X:175.08, Y:-32.97, Z:-20.73 [[ 9.23276156e-01 3.76279323e-01 7.72981986e-02 1.75083962e+02] [-3.75253563e-01 9.26500739e-01 -2.79489531e-02 -3.29688428e+01] [-8.21334513e-02 -3.20182239e-03 9.96616197e-01 -2.07288019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.37629675700003 meters 0.07378638228572813 Centerline is valid? [True, True] Translation: X:175.11, Y:-32.98, Z:-20.73 [[ 9.23205289e-01 3.76197248e-01 7.85342325e-02 1.75113845e+02] [-3.75135823e-01 9.26534002e-01 -2.84228346e-02 -3.29769557e+01] [-8.34572288e-02 -3.22089274e-03 9.96506155e-01 -2.07329586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.40629675700004 meters 0.07361106111932933 Centerline is valid? [True, True] Translation: X:175.14, Y:-32.99, Z:-20.73 [[ 9.22982069e-01 3.77046480e-01 7.70717334e-02 1.75143782e+02] [-3.76025680e-01 9.26188746e-01 -2.79122648e-02 -3.29890394e+01] [-8.19071933e-02 -3.21843103e-03 9.96634764e-01 -2.07347730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.43629675700004 meters 0.07349767992272271 Centerline is valid? [True, True] Translation: X:175.17, Y:-33.00, Z:-20.74 [[ 9.22936431e-01 3.77083847e-01 7.74346019e-02 1.75173738e+02] [-3.76051778e-01 9.26173537e-01 -2.80649043e-02 -3.30000362e+01] [-8.23007012e-02 -3.21729710e-03 9.96602350e-01 -2.07386241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.46629675700004 meters 0.07388279911633922 Centerline is valid? [True, True] Translation: X:175.20, Y:-33.01, Z:-20.74 [[ 9.23025379e-01 3.76900234e-01 7.72681237e-02 1.75203177e+02] [-3.75870160e-01 9.26248423e-01 -2.80264411e-02 -3.30087079e+01] [-8.21326499e-02 -3.17366556e-03 9.96616353e-01 -2.07436407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.49629675700004 meters 0.07402838421407315 Centerline is valid? [True, True] Translation: X:175.23, Y:-33.02, Z:-20.75 [[ 9.22990060e-01 3.76932710e-01 7.75311642e-02 1.75233615e+02] [-3.75894117e-01 9.26235222e-01 -2.81411881e-02 -3.30194134e+01] [-8.24194294e-02 -3.16947164e-03 9.96592691e-01 -2.07478984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.52629675700004 meters 0.07349551287528483 Centerline is valid? [True, True] Translation: X:175.26, Y:-33.03, Z:-20.75 [[ 9.23152682e-01 3.76479527e-01 7.77964798e-02 1.75263055e+02] [-3.75430465e-01 9.26419683e-01 -2.82583870e-02 -3.30323444e+01] [-8.27108943e-02 -3.12036286e-03 9.96568699e-01 -2.07513038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.556296757 meters 0.07363171542603747 Centerline is valid? [True, True] Translation: X:175.29, Y:-33.04, Z:-20.76 [[ 9.23331099e-01 3.76081943e-01 7.76018918e-02 1.75291700e+02] [-3.75034944e-01 9.26581366e-01 -2.82092811e-02 -3.30430469e+01] [-8.25134681e-02 -3.05691456e-03 9.96585261e-01 -2.07553629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.586296757 meters 0.07320106211612162 Centerline is valid? [True, True] Translation: X:175.32, Y:-33.06, Z:-20.76 [[ 9.23497408e-01 3.75405720e-01 7.88865227e-02 1.75321299e+02] [-3.74319605e-01 9.26855639e-01 -2.86959426e-02 -3.30562267e+01] [-8.38890394e-02 -3.02814349e-03 9.96470501e-01 -2.07578162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.61629675700001 meters 0.07286286141753916 Centerline is valid? [True, True] Translation: X:175.35, Y:-33.07, Z:-20.76 [[ 9.23613314e-01 3.75114486e-01 7.89149417e-02 1.75351176e+02] [-3.74024729e-01 9.26973691e-01 -2.87276525e-02 -3.30682714e+01] [-8.39282334e-02 -2.98289734e-03 9.96467337e-01 -2.07614920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.64629675700002 meters 0.07222435522147465 Centerline is valid? [True, True] Translation: X:175.38, Y:-33.08, Z:-20.76 [[ 9.23807591e-01 3.74497127e-01 7.95703297e-02 1.75380825e+02] [-3.73385033e-01 9.27223442e-01 -2.89880336e-02 -3.30815952e+01] [-8.46354103e-02 -2.93100469e-03 9.96407676e-01 -2.07630484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.67629675700002 meters 0.07229513822380788 Centerline is valid? [True, True] Translation: X:175.41, Y:-33.09, Z:-20.77 [[ 9.23816529e-01 3.74401202e-01 7.99172061e-02 1.75410249e+02] [-3.73277043e-01 9.27262234e-01 -2.91375659e-02 -3.30922708e+01] [-8.50133468e-02 -2.91349337e-03 9.96375553e-01 -2.07667585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70629675700002 meters 0.07264005007513762 Centerline is valid? [True, True] Translation: X:175.44, Y:-33.10, Z:-20.77 [[ 9.23766885e-01 3.74386016e-01 8.05596319e-02 1.75439689e+02] [-3.73241608e-01 9.27268365e-01 -2.93952631e-02 -3.31013360e+01] [-8.57055735e-02 -2.91383594e-03 9.96316247e-01 -2.07715711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73629675700002 meters 0.07229704096052704 Centerline is valid? [True, True] Translation: X:175.47, Y:-33.11, Z:-20.77 [[ 9.23435517e-01 3.75036045e-01 8.13314817e-02 1.75470516e+02] [-3.73871274e-01 9.27005394e-01 -2.96862062e-02 -3.31136245e+01] [-8.65281196e-02 -2.99420749e-03 9.96244909e-01 -2.07738981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76629675700002 meters 0.07229704096052704 Centerline is valid? [True, True] Translation: X:175.50, Y:-33.12, Z:-20.78 [[ 9.23332126e-01 3.75292294e-01 8.13233030e-02 1.75500743e+02] [-3.74126544e-01 9.26901682e-01 -2.97085918e-02 -3.31247649e+01] [-8.65281119e-02 -2.99430910e-03 9.96244910e-01 -2.07775163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79629675700002 meters 0.07192492814679766 Centerline is valid? [True, True] Translation: X:175.53, Y:-33.14, Z:-20.78 [[ 9.23176890e-01 3.75512088e-01 8.20676633e-02 1.75530794e+02] [-3.74323035e-01 9.26812595e-01 -3.00113002e-02 -3.31373989e+01] [-8.73309500e-02 -3.01407807e-03 9.96174794e-01 -2.07797136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82629675700002 meters 0.07189187642068444 Centerline is valid? [True, True] Translation: X:175.56, Y:-33.15, Z:-20.78 [[ 9.22663279e-01 3.76372721e-01 8.38811548e-02 1.75561099e+02] [-3.75133560e-01 9.26462946e-01 -3.06793457e-02 -3.31480509e+01] [-8.92596506e-02 -3.15993055e-03 9.96003378e-01 -2.07825606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85629675700002 meters 0.07253367572243487 Centerline is valid? [True, True] Translation: X:175.59, Y:-33.16, Z:-20.79 [[ 9.22269516e-01 3.77440129e-01 8.34139611e-02 1.75591630e+02] [-3.76216974e-01 9.26028382e-01 -3.05323625e-02 -3.31553634e+01] [-8.87678343e-02 -3.22268084e-03 9.96047130e-01 -2.07869487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.88629675700003 meters 0.07265487946493038 Centerline is valid? [True, True] Translation: X:175.62, Y:-33.16, Z:-20.79 [[ 9.21706639e-01 3.78886041e-01 8.30797182e-02 1.75622184e+02] [-3.77676651e-01 9.25437350e-01 -3.04312212e-02 -3.31648242e+01] [-8.84150391e-02 -3.32861105e-03 9.96078160e-01 -2.07904953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.91629675700003 meters 0.07290203539995585 Centerline is valid? [True, True] Translation: X:175.65, Y:-33.17, Z:-20.79 [[ 9.21161732e-01 3.80503038e-01 8.17220990e-02 1.75652581e+02] [-3.79336899e-01 9.24773414e-01 -2.99607896e-02 -3.31749264e+01] [-8.69745959e-02 -3.40147482e-03 9.96204723e-01 -2.07946859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.94629675700003 meters 0.07351085281851603 Centerline is valid? [True, True] Translation: X:175.68, Y:-33.18, Z:-20.80 [[ 9.20741997e-01 3.81792380e-01 8.04285623e-02 1.75683531e+02] [-3.80667275e-01 9.24241634e-01 -2.94928286e-02 -3.31832566e+01] [-8.55955630e-02 -3.46123576e-03 9.96323953e-01 -2.08001631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.97629675700003 meters 0.07421959850748254 Centerline is valid? [True, True] Translation: X:175.71, Y:-33.19, Z:-20.81 [[ 9.20379955e-01 3.82890624e-01 7.93442445e-02 1.75713360e+02] [-3.81799604e-01 9.23787003e-01 -2.90970054e-02 -3.31915748e+01] [-8.44381523e-02 -3.51330063e-03 9.96422528e-01 -2.08057219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.00629675700003 meters 0.07420957273158732 Centerline is valid? [True, True] Translation: X:175.74, Y:-33.20, Z:-20.81 [[ 9.19879372e-01 3.84429253e-01 7.76922767e-02 1.75743800e+02] [-3.83386728e-01 9.23147608e-01 -2.85150950e-02 -3.32020452e+01] [-8.26834761e-02 -3.55574006e-03 9.96569516e-01 -2.08094606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.03629675700003 meters 0.07470050454040067 Centerline is valid? [True, True] Translation: X:175.77, Y:-33.21, Z:-20.81 [[ 9.19512547e-01 3.85305115e-01 7.76958447e-02 1.75773267e+02] [-3.84265487e-01 9.22782080e-01 -2.85178517e-02 -3.32111026e+01] [-8.26844073e-02 -3.63330918e-03 9.96569159e-01 -2.08135915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.06629675700003 meters 0.0748384379616951 Centerline is valid? [True, True] Translation: X:175.80, Y:-33.22, Z:-20.82 [[ 9.19293679e-01 3.86084264e-01 7.64072753e-02 1.75803809e+02] [-3.85080044e-01 9.22456397e-01 -2.80634130e-02 -3.32213840e+01] [-8.13172221e-02 -3.62439877e-03 9.96681681e-01 -2.08165954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.09629675700003 meters 0.07544022969173123 Centerline is valid? [True, True] Translation: X:175.83, Y:-33.23, Z:-20.82 [[ 9.18691659e-01 3.87357237e-01 7.72010809e-02 1.75833004e+02] [-3.86334597e-01 9.21922053e-01 -2.83779421e-02 -3.32299059e+01] [-8.21657803e-02 -3.75486977e-03 9.96611602e-01 -2.08206687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.12629675700003 meters 0.0760005815216475 Centerline is valid? [True, True] Translation: X:175.86, Y:-33.24, Z:-20.82 [[ 9.18034159e-01 3.89117996e-01 7.61608067e-02 1.75863409e+02] [-3.88127161e-01 9.21179914e-01 -2.80156027e-02 -3.32397336e+01] [-8.10591805e-02 -3.84079742e-03 9.96701890e-01 -2.08241061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.15629675700004 meters 0.07646177371036168 Centerline is valid? [True, True] Translation: X:175.89, Y:-33.25, Z:-20.83 [[ 9.17414494e-01 3.90762906e-01 7.51997175e-02 1.75893206e+02] [-3.89802414e-01 9.20482953e-01 -2.76624637e-02 -3.32498156e+01] [-8.00295227e-02 -3.93508629e-03 9.96784726e-01 -2.08271711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.18629675700004 meters 0.07556182420085902 Centerline is valid? [True, True] Translation: X:175.92, Y:-33.26, Z:-20.83 [[ 9.17094071e-01 3.91430713e-01 7.56337363e-02 1.75922453e+02] [-3.90459904e-01 9.20198890e-01 -2.78400265e-02 -3.32643458e+01] [-8.04955216e-02 -4.00001817e-03 9.96746944e-01 -2.08283068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.21629675700004 meters 0.07621048320189766 Centerline is valid? [True, True] Translation: X:175.95, Y:-33.27, Z:-20.83 [[ 9.16762228e-01 3.92162934e-01 7.58633667e-02 1.75951583e+02] [-3.91186708e-01 9.19886840e-01 -2.79492483e-02 -3.32736738e+01] [-8.07463719e-02 -4.05392558e-03 9.96726436e-01 -2.08320313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.24629675700004 meters 0.07594824561723243 Centerline is valid? [True, True] Translation: X:175.98, Y:-33.29, Z:-20.83 [[ 9.16311127e-01 3.93234758e-01 7.57650550e-02 1.75980384e+02] [-3.92263123e-01 9.19428850e-01 -2.79326217e-02 -3.32870443e+01] [-8.06446551e-02 -4.12486504e-03 9.96734380e-01 -2.08341056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.27629675700004 meters 0.07663653425242677 Centerline is valid? [True, True] Translation: X:176.01, Y:-33.30, Z:-20.84 [[ 9.16575441e-01 3.92989982e-01 7.38128370e-02 1.76009060e+02] [-3.92065091e-01 9.19534165e-01 -2.72375515e-02 -3.32970747e+01] [-7.85775102e-02 -3.97416591e-03 9.96900086e-01 -2.08385282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.306296757 meters 0.07728169243260713 Centerline is valid? [True, True] Translation: X:176.04, Y:-33.31, Z:-20.84 [[ 9.16435109e-01 3.93286125e-01 7.39778058e-02 1.76038854e+02] [-3.92357356e-01 9.19407429e-01 -2.73072220e-02 -3.33069412e+01] [-7.87552958e-02 -4.00043932e-03 9.96885951e-01 -2.08423232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.336296757 meters 0.07679418217356743 Centerline is valid? [True, True] Translation: X:176.07, Y:-33.32, Z:-20.85 [[ 9.16691518e-01 3.92955595e-01 7.25435198e-02 1.76067773e+02] [-3.92060617e-01 9.19549245e-01 -2.67891415e-02 -3.33199353e+01] [-7.72342819e-02 -3.88407839e-03 9.97005406e-01 -2.08450607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.36629675700001 meters 0.07642103628333645 Centerline is valid? [True, True] Translation: X:176.10, Y:-33.33, Z:-20.85 [[ 9.17035497e-01 3.92179843e-01 7.23938443e-02 1.76097062e+02] [-3.91284609e-01 9.19880747e-01 -2.67538094e-02 -3.33318800e+01] [-7.70860083e-02 -3.79240412e-03 9.97017234e-01 -2.08485715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.39629675700002 meters 0.07636482842136931 Centerline is valid? [True, True] Translation: X:176.13, Y:-33.34, Z:-20.85 [[ 9.17315920e-01 3.91619814e-01 7.18708801e-02 1.76126287e+02] [-3.90734203e-01 9.20119686e-01 -2.65809301e-02 -3.33425798e+01] [-7.65394305e-02 -3.69930075e-03 9.97059693e-01 -2.08513284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.42629675700002 meters 0.07681730607453052 Centerline is valid? [True, True] Translation: X:176.16, Y:-33.35, Z:-20.86 [[ 9.17267649e-01 3.91923942e-01 7.08214965e-02 1.76155283e+02] [-3.91063584e-01 9.19990367e-01 -2.62106465e-02 -3.33520005e+01] [-7.54276744e-02 -3.65353012e-03 9.97144582e-01 -2.08551599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.45629675700002 meters 0.07660641400922588 Centerline is valid? [True, True] Translation: X:176.18, Y:-33.36, Z:-20.86 [[ 9.17493249e-01 3.91459075e-01 7.04693666e-02 1.76184655e+02] [-3.90604610e-01 9.20188549e-01 -2.60973688e-02 -3.33638019e+01] [-7.50611561e-02 -3.58149984e-03 9.97172500e-01 -2.08584370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48629675700002 meters 0.07600749711245276 Centerline is valid? [True, True] Translation: X:176.21, Y:-33.38, Z:-20.86 [[ 9.17951563e-01 3.90736763e-01 6.84814612e-02 1.76213587e+02] [-3.89926579e-01 9.20496159e-01 -2.53788042e-02 -3.33772226e+01] [-7.29533538e-02 -3.40622895e-03 9.97329537e-01 -2.08611977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51629675700002 meters 0.07674701121149713 Centerline is valid? [True, True] Translation: X:176.24, Y:-33.39, Z:-20.87 [[ 9.18154999e-01 3.90393072e-01 6.77100249e-02 1.76243695e+02] [-3.89598600e-01 9.20642286e-01 -2.51139778e-02 -3.33863343e+01] [-7.21410350e-02 -3.32120662e-03 9.97388911e-01 -2.08672502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54629675700002 meters 0.07630010655883174 Centerline is valid? [True, True] Translation: X:176.27, Y:-33.40, Z:-20.87 [[ 9.18240086e-01 3.90702036e-01 6.47075283e-02 1.76272815e+02] [-3.89976148e-01 9.20511705e-01 -2.40167688e-02 -3.33989622e+01] [-6.89474376e-02 -3.18123276e-03 9.97615222e-01 -2.08707241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57629675700002 meters 0.0771694047133475 Centerline is valid? [True, True] Translation: X:176.30, Y:-33.41, Z:-20.88 [[ 9.17814199e-01 3.92046114e-01 6.25854630e-02 1.76301702e+02] [-3.91370219e-01 9.19940090e-01 -2.32289276e-02 -3.34070333e+01] [-6.66816872e-02 -3.17424681e-03 9.97769250e-01 -2.08754398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60629675700002 meters 0.07622381677451123 Centerline is valid? [True, True] Translation: X:176.33, Y:-33.42, Z:-20.88 [[ 9.17496773e-01 3.92850305e-01 6.21957258e-02 1.76330803e+02] [-3.92184195e-01 9.19596845e-01 -2.30911035e-02 -3.34210091e+01] [-6.62663403e-02 -3.20616771e-03 9.97796819e-01 -2.08764778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.63629675700003 meters 0.07684108367950873 Centerline is valid? [True, True] Translation: X:176.36, Y:-33.43, Z:-20.88 [[ 9.17322032e-01 3.93261776e-01 6.21728693e-02 1.76361381e+02] [-3.92595997e-01 9.19420911e-01 -2.30991747e-02 -3.34304195e+01] [-6.62470586e-02 -3.21943771e-03 9.97798057e-01 -2.08811337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.66629675700003 meters 0.0789844486736553 Centerline is valid? [True, True] Translation: X:176.39, Y:-33.44, Z:-20.89 [[ 9.17221592e-01 3.93439029e-01 6.25322456e-02 1.76391448e+02] [-3.92764561e-01 9.19345030e-01 -2.32532900e-02 -3.34362332e+01] [-6.66374611e-02 -3.23203032e-03 9.97772019e-01 -2.08894182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.69629675700003 meters 0.0763565832308831 Centerline is valid? [True, True] Translation: X:176.42, Y:-33.46, Z:-20.89 [[ 9.18067812e-01 3.91524225e-01 6.21310979e-02 1.76417740e+02] [-3.90852952e-01 9.20162718e-01 -2.31201582e-02 -3.34563283e+01] [-6.62228219e-02 -3.05825000e-03 9.97800173e-01 -2.08876966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.72629675700003 meters 0.07559099350522196 Centerline is valid? [True, True] Translation: X:176.45, Y:-33.47, Z:-20.89 [[ 9.18535188e-01 3.90431181e-01 6.21015406e-02 1.76446554e+02] [-3.89757216e-01 9.20627337e-01 -2.31218178e-02 -3.34709395e+01] [-6.61998546e-02 -2.96632034e-03 9.97801974e-01 -2.08904574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.75629675700003 meters 0.07500125808133384 Centerline is valid? [True, True] Translation: X:176.47, Y:-33.49, Z:-20.89 [[ 9.19609322e-01 3.87487145e-01 6.45941740e-02 1.76474032e+02] [-3.86749215e-01 9.21870715e-01 -2.40713430e-02 -3.34855098e+01] [-6.88748134e-02 -2.84551466e-03 9.97621252e-01 -2.08940617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.78629675700003 meters 0.07413100592060456 Centerline is valid? [True, True] Translation: X:176.50, Y:-33.50, Z:-20.90 [[ 9.20000083e-01 3.86497395e-01 6.49585232e-02 1.76502613e+02] [-3.85747842e-01 9.22286319e-01 -2.42187353e-02 -3.35009019e+01] [-6.92708354e-02 -2.77637172e-03 9.97594027e-01 -2.08953869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.81629675700003 meters 0.07383141613982779 Centerline is valid? [True, True] Translation: X:176.53, Y:-33.52, Z:-20.90 [[ 9.20517214e-01 3.85172978e-01 6.54968396e-02 1.76530838e+02] [-3.84406251e-01 9.22840500e-01 -2.44386112e-02 -3.35154117e+01] [-6.98562289e-02 -2.68123230e-03 9.97553466e-01 -2.08997298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.84629675700003 meters 0.07367356984263872 Centerline is valid? [True, True] Translation: X:176.56, Y:-33.53, Z:-20.90 [[ 9.20668846e-01 3.84691226e-01 6.61931696e-02 1.76559931e+02] [-3.83905642e-01 9.23041494e-01 -2.47155341e-02 -3.35278895e+01] [-7.06068913e-02 -2.65710902e-03 9.97500680e-01 -2.09023176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.87629675700003 meters 0.07387275655531626 Centerline is valid? [True, True] Translation: X:176.59, Y:-33.54, Z:-20.91 [[ 9.20172648e-01 3.85835654e-01 6.64315160e-02 1.76588625e+02] [-3.85045987e-01 9.22563471e-01 -2.48239819e-02 -3.35398073e+01] [-7.08652673e-02 -2.73683957e-03 9.97482142e-01 -2.09050147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.90629675700004 meters 0.07416576916666287 Centerline is valid? [True, True] Translation: X:176.62, Y:-33.55, Z:-20.91 [[ 9.19353221e-01 3.87471958e-01 6.82285633e-02 1.76618718e+02] [-3.86642148e-01 9.21876852e-01 -2.55131286e-02 -3.35503970e+01] [-7.27839550e-02 -2.92446136e-03 9.97343443e-01 -2.09079151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.93629675700004 meters 0.07435980949997685 Centerline is valid? [True, True] Translation: X:176.65, Y:-33.56, Z:-20.91 [[ 9.18862035e-01 3.88545875e-01 6.87361965e-02 1.76648624e+02] [-3.87705239e-01 9.21424450e-01 -2.57221662e-02 -3.35609881e+01] [-7.33294536e-02 -3.01426156e-03 9.97303216e-01 -2.09110660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.96629675700004 meters 0.07499998390645819 Centerline is valid? [True, True] Translation: X:176.68, Y:-33.57, Z:-20.92 [[ 9.18007966e-01 3.90521573e-01 6.89512546e-02 1.76678817e+02] [-3.89679467e-01 9.20588353e-01 -2.58263116e-02 -3.35702943e+01] [-7.35614537e-02 -3.16012840e-03 9.97285679e-01 -2.09154690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.99629675700004 meters 0.07445244986238099 Centerline is valid? [True, True] Translation: X:176.71, Y:-33.58, Z:-20.92 [[ 9.17164298e-01 3.92569006e-01 6.85508983e-02 1.76707932e+02] [-3.91741437e-01 9.19716657e-01 -2.56888530e-02 -3.35836125e+01] [-7.31320505e-02 -3.29332856e-03 9.97316829e-01 -2.09170985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.02629675700004 meters 0.07550915429462761 Centerline is valid? [True, True] Translation: X:176.74, Y:-33.59, Z:-20.92 [[ 9.16736493e-01 3.93595706e-01 6.83858398e-02 1.76737838e+02] [-3.92775033e-01 9.19277476e-01 -2.56260722e-02 -3.35918778e+01] [-7.29518741e-02 -3.36789493e-03 9.97329776e-01 -2.09223813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.056296757 meters 0.0754250841692367 Centerline is valid? [True, True] Translation: X:176.77, Y:-33.60, Z:-20.93 [[ 9.15997137e-01 3.95299000e-01 6.84685683e-02 1.76767196e+02] [-3.94479734e-01 9.18545870e-01 -2.56753789e-02 -3.36030495e+01] [-7.30409722e-02 -3.49088902e-03 9.97322831e-01 -2.09252198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.086296757 meters 0.07577864402662518 Centerline is valid? [True, True] Translation: X:176.80, Y:-33.61, Z:-20.93 [[ 9.15815957e-01 3.95631986e-01 6.89671255e-02 1.76797737e+02] [-3.94800381e-01 9.18402358e-01 -2.58798612e-02 -3.36130253e+01] [-7.35784715e-02 -3.52705758e-03 9.97283194e-01 -2.09296847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.11629675700001 meters 0.07693277345356628 Centerline is valid? [True, True] Translation: X:176.83, Y:-33.62, Z:-20.94 [[ 9.15240412e-01 3.97354325e-01 6.66672953e-02 1.76826535e+02] [-3.96580195e-01 9.17658510e-01 -2.50401114e-02 -3.36207391e+01] [-7.11276075e-02 -3.52120713e-03 9.97461009e-01 -2.09361684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.14629675700002 meters 0.07745652169017726 Centerline is valid? [True, True] Translation: X:176.85, Y:-33.63, Z:-20.94 [[ 9.15719734e-01 3.96514698e-01 6.50650599e-02 1.76854561e+02] [-3.95774728e-01 9.18022204e-01 -2.44458146e-02 -3.36328033e+01] [-6.94242945e-02 -3.36559152e-03 9.97581546e-01 -2.09417421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.17629675700002 meters 0.07685161593153668 Centerline is valid? [True, True] Translation: X:176.88, Y:-33.65, Z:-20.94 [[ 9.16033417e-01 3.95893904e-01 6.44266678e-02 1.76883625e+02] [-3.95166558e-01 9.18290394e-01 -2.42104196e-02 -3.36472207e+01] [-6.87471477e-02 -3.28171115e-03 9.97628719e-01 -2.09444701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20629675700002 meters 0.07633738162442527 Centerline is valid? [True, True] Translation: X:176.91, Y:-33.66, Z:-20.95 [[ 9.17137526e-01 3.93352398e-01 6.42856893e-02 1.76910460e+02] [-3.92620501e-01 9.19382675e-01 -2.41793357e-02 -3.36613896e+01] [-6.86141487e-02 -3.06410340e-03 9.97638567e-01 -2.09469675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23629675700002 meters 0.0760596718548586 Centerline is valid? [True, True] Translation: X:176.94, Y:-33.67, Z:-20.95 [[ 9.17308698e-01 3.92866174e-01 6.48145234e-02 1.76939262e+02] [-3.92120409e-01 9.19590613e-01 -2.43862621e-02 -3.36744824e+01] [-6.91833648e-02 -3.04536709e-03 9.97599312e-01 -2.09497797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26629675700002 meters 0.07550778753583244 Centerline is valid? [True, True] Translation: X:176.97, Y:-33.69, Z:-20.95 [[ 9.17887453e-01 3.91217358e-01 6.65702862e-02 1.76967865e+02] [-3.90424812e-01 9.20293480e-01 -2.50674616e-02 -3.36863720e+01] [-7.10710264e-02 -2.98158302e-03 9.97466801e-01 -2.09534304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29629675700002 meters 0.07475173284252871 Centerline is valid? [True, True] Translation: X:177.00, Y:-33.70, Z:-20.96 [[ 9.18618614e-01 3.89069770e-01 6.90257627e-02 1.76996601e+02] [-3.88210300e-01 9.21203713e-01 -2.60092605e-02 -3.36994191e+01] [-7.37062059e-02 -2.90392118e-03 9.97275771e-01 -2.09553261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32629675700002 meters 0.07423721463151312 Centerline is valid? [True, True] Translation: X:177.02, Y:-33.71, Z:-20.96 [[ 9.19447890e-01 3.86834840e-01 7.05293139e-02 1.77024678e+02] [-3.85929137e-01 9.22144877e-01 -2.65993679e-02 -3.37139550e+01] [-7.53278077e-02 -2.76258451e-03 9.97154998e-01 -2.09583807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35629675700002 meters 0.07375365930879062 Centerline is valid? [True, True] Translation: X:177.05, Y:-33.73, Z:-20.96 [[ 9.19797494e-01 3.86087533e-01 7.00641581e-02 1.77053987e+02] [-3.85191833e-01 9.22458237e-01 -2.64206736e-02 -3.37275983e+01] [-7.48319525e-02 -2.68647210e-03 9.97192540e-01 -2.09609250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.38629675700003 meters 0.07322913536024588 Centerline is valid? [True, True] Translation: X:177.08, Y:-33.74, Z:-20.96 [[ 9.20478132e-01 3.84184998e-01 7.15674274e-02 1.77082833e+02] [-3.83242551e-01 9.23252582e-01 -2.70151387e-02 -3.37400567e+01] [-7.64536231e-02 -2.56083899e-03 9.97069850e-01 -2.09642148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.41629675700003 meters 0.073429515777868 Centerline is valid? [True, True] Translation: X:177.11, Y:-33.75, Z:-20.97 [[ 9.20574692e-01 3.83757709e-01 7.26103075e-02 1.77111926e+02] [-3.82786368e-01 9.23430261e-01 -2.74070971e-02 -3.37505314e+01] [-7.75682400e-02 -2.56395598e-03 9.96983748e-01 -2.09694381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.44629675700003 meters 0.0729047384599499 Centerline is valid? [True, True] Translation: X:177.14, Y:-33.76, Z:-20.97 [[ 9.20483829e-01 3.83789093e-01 7.35897557e-02 1.77141508e+02] [-3.82789987e-01 9.23417161e-01 -2.77952012e-02 -3.37623449e+01] [-7.86215383e-02 -2.58438839e-03 9.96901186e-01 -2.09717872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.47629675700003 meters 0.07313260340442775 Centerline is valid? [True, True] Translation: X:177.17, Y:-33.77, Z:-20.98 [[ 9.20199547e-01 3.84338015e-01 7.42770804e-02 1.77171072e+02] [-3.83320252e-01 9.23188680e-01 -2.80757155e-02 -3.37730259e+01] [-7.93623245e-02 -2.63664851e-03 9.96842349e-01 -2.09754469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.50629675700003 meters 0.07291742155975421 Centerline is valid? [True, True] Translation: X:177.20, Y:-33.78, Z:-20.98 [[ 9.20143067e-01 3.84242586e-01 7.54610554e-02 1.77200647e+02] [-3.83190067e-01 9.23228361e-01 -2.85441246e-02 -3.37848642e+01] [-8.06356548e-02 -2.65124853e-03 9.96740118e-01 -2.09784667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.53629675700003 meters 0.07251275086766668 Centerline is valid? [True, True] Translation: X:177.23, Y:-33.80, Z:-20.98 [[ 9.19911263e-01 3.85014765e-01 7.43431120e-02 1.77229726e+02] [-3.83994192e-01 9.22906579e-01 -2.81408377e-02 -3.37980431e+01] [-7.94463852e-02 -2.66024969e-03 9.96835591e-01 -2.09799233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.56629675700003 meters 0.07338852541341719 Centerline is valid? [True, True] Translation: X:177.26, Y:-33.80, Z:-20.99 [[ 9.19341700e-01 3.86290964e-01 7.47671694e-02 1.77259638e+02] [-3.85261162e-01 9.22372831e-01 -2.83231016e-02 -3.38040767e+01] [-7.99041639e-02 -2.76627812e-03 9.96798712e-01 -2.09866260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.59629675700003 meters 0.07309851951119574 Centerline is valid? [True, True] Translation: X:177.29, Y:-33.82, Z:-20.99 [[ 9.18956345e-01 3.87228860e-01 7.46528367e-02 1.77289745e+02] [-3.86203783e-01 9.21979297e-01 -2.82986571e-02 -3.38159909e+01] [-7.97864267e-02 -2.82597750e-03 9.96807975e-01 -2.09895343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.62629675700003 meters 0.07336182363155742 Centerline is valid? [True, True] Translation: X:177.32, Y:-33.83, Z:-20.99 [[ 9.18740852e-01 3.88030571e-01 7.31267626e-02 1.77320430e+02] [-3.87047562e-01 9.21642211e-01 -2.77456100e-02 -3.38253526e+01] [-7.81628561e-02 -2.81250986e-03 9.96936637e-01 -2.09938343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.65629675700004 meters 0.07336182363155742 Centerline is valid? [True, True] Translation: X:177.35, Y:-33.84, Z:-21.00 [[ 9.18632919e-01 3.88286063e-01 7.31265549e-02 1.77350517e+02] [-3.87303817e-01 9.21534537e-01 -2.77461610e-02 -3.38368791e+01] [-7.81620935e-02 -2.83365703e-03 9.96936637e-01 -2.09974433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.68629675700004 meters 0.07430013299297614 Centerline is valid? [True, True] Translation: X:177.38, Y:-33.84, Z:-21.00 [[ 9.18411225e-01 3.88736757e-01 7.35156870e-02 1.77380686e+02] [-3.87743582e-01 9.21344411e-01 -2.79175785e-02 -3.38448001e+01] [-7.85858563e-02 -2.86541842e-03 9.96903231e-01 -2.10041921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.71629675700004 meters 0.0737968052233619 Centerline is valid? [True, True] Translation: X:177.41, Y:-33.86, Z:-21.01 [[ 9.18154936e-01 3.89584888e-01 7.22158409e-02 1.77410576e+02] [-3.88627344e-01 9.20986109e-01 -2.74476644e-02 -3.38572525e+01] [-7.72029816e-02 -2.86384186e-03 9.97011283e-01 -2.10058768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.74629675700004 meters 0.07382124156001305 Centerline is valid? [True, True] Translation: X:177.44, Y:-33.87, Z:-21.01 [[ 9.17935628e-01 3.90106215e-01 7.21895025e-02 1.77440729e+02] [-3.89149441e-01 9.20765333e-01 -2.74574965e-02 -3.38676922e+01] [-7.71809313e-02 -2.88829027e-03 9.97012919e-01 -2.10108903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.77629675700004 meters 0.0737381485008754 Centerline is valid? [True, True] Translation: X:177.47, Y:-33.88, Z:-21.01 [[ 9.17997201e-01 3.89845869e-01 7.28102848e-02 1.77471357e+02] [-3.88869838e-01 9.20875653e-01 -2.77178785e-02 -3.38785879e+01] [-7.78549190e-02 -2.86878883e-03 9.96960572e-01 -2.10142669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.806296757 meters 0.07291185533729957 Centerline is valid? [True, True] Translation: X:177.50, Y:-33.89, Z:-21.02 [[ 9.17910223e-01 3.89865495e-01 7.37951092e-02 1.77500861e+02] [-3.88862349e-01 9.20867237e-01 -2.80999062e-02 -3.38917508e+01] [-7.89106822e-02 -2.90294836e-03 9.96877463e-01 -2.10155250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.836296757 meters 0.07313260626821065 Centerline is valid? [True, True] Translation: X:177.53, Y:-33.90, Z:-21.02 [[ 9.17900745e-01 3.89780029e-01 7.43623004e-02 1.77530045e+02] [-3.88759355e-01 9.20903433e-01 -2.83378113e-02 -3.39015015e+01] [-7.95260106e-02 -2.89774181e-03 9.96828579e-01 -2.10199447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.86629675700001 meters 0.07271513892922418 Centerline is valid? [True, True] Translation: X:177.56, Y:-33.91, Z:-21.02 [[ 9.18116520e-01 3.89142000e-01 7.50370579e-02 1.77559614e+02] [-3.88099009e-01 9.21173370e-01 -2.86143492e-02 -3.39136123e+01] [-8.02571846e-02 -2.85050113e-03 9.96770113e-01 -2.10230266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.89629675700002 meters 0.07208295789232305 Centerline is valid? [True, True] Translation: X:177.59, Y:-33.93, Z:-21.02 [[ 9.18381949e-01 3.87837057e-01 7.84666330e-02 1.77589372e+02] [-3.86689319e-01 9.21723587e-01 -2.99499673e-02 -3.39255163e+01] [-8.39402536e-02 -2.83669946e-03 9.96466752e-01 -2.10245443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.92629675700002 meters 0.07200490915170729 Centerline is valid? [True, True] Translation: X:177.62, Y:-33.94, Z:-21.03 [[ 9.18436233e-01 3.87671293e-01 7.86502060e-02 1.77618757e+02] [-3.86517308e-01 9.21793353e-01 -3.00230673e-02 -3.39367685e+01] [-8.41383184e-02 -2.82539313e-03 9.96450079e-01 -2.10275969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95629675700002 meters 0.0713226194441576 Centerline is valid? [True, True] Translation: X:177.65, Y:-33.95, Z:-21.03 [[ 9.18603965e-01 3.86603385e-01 8.18814841e-02 1.77648214e+02] [-3.85345740e-01 9.22241781e-01 -3.12850913e-02 -3.39482285e+01] [-8.76094480e-02 -2.81407223e-03 9.96150925e-01 -2.10289544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98629675700002 meters 0.07089155111393593 Centerline is valid? [True, True] Translation: X:177.68, Y:-33.96, Z:-21.03 [[ 9.18558884e-01 3.86365680e-01 8.34933482e-02 1.77678929e+02] [-3.85056685e-01 9.22341300e-01 -3.19041594e-02 -3.39591655e+01] [-8.93360356e-02 -2.84382281e-03 9.95997483e-01 -2.10304429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01629675700002 meters 0.07158430931004131 Centerline is valid? [True, True] Translation: X:177.71, Y:-33.97, Z:-21.04 [[ 9.18464193e-01 3.86393395e-01 8.44018360e-02 1.77709680e+02] [-3.85054631e-01 9.22329623e-01 -3.22645061e-02 -3.39658844e+01] [-9.03131056e-02 -2.86552431e-03 9.95909299e-01 -2.10350574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04629675700002 meters 0.07053048523172427 Centerline is valid? [True, True] Translation: X:177.74, Y:-33.98, Z:-21.04 [[ 9.18204858e-01 3.86964908e-01 8.46049591e-02 1.77740034e+02] [-3.85621113e-01 9.22089822e-01 -3.23530020e-02 -3.39782929e+01] [-9.05328481e-02 -2.91877485e-03 9.95889193e-01 -2.10352737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07629675700002 meters 0.070535653265395 Centerline is valid? [True, True] Translation: X:177.77, Y:-33.99, Z:-21.04 [[ 9.18069800e-01 3.87075117e-01 8.55610701e-02 1.77769979e+02] [-3.85698503e-01 9.22043510e-01 -3.27479778e-02 -3.39872030e+01] [-9.15669567e-02 -2.93584729e-03 9.95794594e-01 -2.10399765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10629675700002 meters 0.07100951372187823 Centerline is valid? [True, True] Translation: X:177.80, Y:-33.99, Z:-21.04 [[ 9.17564513e-01 3.88554643e-01 8.42653754e-02 1.77800687e+02] [-3.87223727e-01 9.21420746e-01 -3.22737372e-02 -3.39941297e+01] [-9.01839755e-02 -3.01631673e-03 9.95920555e-01 -2.10440761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.13629675700003 meters 0.07077293729783211 Centerline is valid? [True, True] Translation: X:177.83, Y:-34.00, Z:-21.05 [[ 9.17482738e-01 3.88824851e-01 8.39086436e-02 1.77831941e+02] [-3.87504498e-01 9.21306772e-01 -3.21573694e-02 -3.40045794e+01] [-8.98091859e-02 -3.01114545e-03 9.95954438e-01 -2.10472729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.16629675700003 meters 0.07115726676800951 Centerline is valid? [True, True] Translation: X:177.86, Y:-34.01, Z:-21.05 [[ 9.17212565e-01 3.89922063e-01 8.17428578e-02 1.77862995e+02] [-3.88670857e-01 9.20842942e-01 -3.13566927e-02 -3.40108175e+01] [-8.74990000e-02 -3.01031405e-03 9.96160059e-01 -2.10521816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.19629675700003 meters 0.07151814719414716 Centerline is valid? [True, True] Translation: X:177.89, Y:-34.02, Z:-21.06 [[ 9.16822690e-01 3.91112103e-01 8.04206310e-02 1.77893439e+02] [-3.89905030e-01 9.20337939e-01 -3.08568577e-02 -3.40194833e+01] [-8.60826483e-02 -3.06614133e-03 9.96283281e-01 -2.10572852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.22629675700003 meters 0.07207261965530995 Centerline is valid? [True, True] Translation: X:177.93, Y:-34.03, Z:-21.06 [[ 9.16282364e-01 3.92726478e-01 7.86927084e-02 1.77925101e+02] [-3.91574574e-01 9.19650015e-01 -3.02192440e-02 -3.40256712e+01] [-8.42376477e-02 -3.12470345e-03 9.96440793e-01 -2.10622196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.25629675700003 meters 0.07246965074655462 Centerline is valid? [True, True] Translation: X:177.96, Y:-34.04, Z:-21.07 [[ 9.15958158e-01 3.93634096e-01 7.79285055e-02 1.77955375e+02] [-3.92507676e-01 9.19261722e-01 -2.99267731e-02 -3.40350308e+01] [-8.34168904e-02 -3.17586457e-03 9.96509677e-01 -2.10663591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.28629675700003 meters 0.07284062884005948 Centerline is valid? [True, True] Translation: X:177.98, Y:-34.04, Z:-21.07 [[ 9.16167308e-01 3.93775379e-01 7.46887876e-02 1.77984786e+02] [-3.92739379e-01 9.19201690e-01 -2.87059844e-02 -3.40431425e+01] [-7.99577697e-02 -3.03374361e-03 9.96793635e-01 -2.10709065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.31629675700003 meters 0.0727710508760515 Centerline is valid? [True, True] Translation: X:178.01, Y:-34.05, Z:-21.07 [[ 9.16200790e-01 3.94038677e-01 7.28672335e-02 1.78014516e+02] [-3.93053012e-01 9.19089040e-01 -2.80118923e-02 -3.40536068e+01] [-7.80092447e-02 -2.97616776e-03 9.96948193e-01 -2.10746841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.34629675700003 meters 0.07292189848048655 Centerline is valid? [True, True] Translation: X:178.04, Y:-34.06, Z:-21.08 [[ 9.16419775e-01 3.93617759e-01 7.23868519e-02 1.78044755e+02] [-3.92642342e-01 9.19269616e-01 -2.78453760e-02 -3.40617204e+01] [-7.75034680e-02 -2.90408984e-03 9.96987853e-01 -2.10789847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.37629675700003 meters 0.07276699348415563 Centerline is valid? [True, True] Translation: X:178.07, Y:-34.07, Z:-21.08 [[ 9.16760777e-01 3.92785580e-01 7.25890248e-02 1.78074453e+02] [-3.91800444e-01 9.19625752e-01 -2.79443803e-02 -3.40714756e+01] [-7.77308862e-02 -2.82210037e-03 9.96970383e-01 -2.10822221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.40629675700004 meters 0.07213483585780074 Centerline is valid? [True, True] Translation: X:178.10, Y:-34.08, Z:-21.08 [[ 9.16719985e-01 3.92789303e-01 7.30823739e-02 1.78103430e+02] [-3.91790130e-01 9.19624123e-01 -2.81418958e-02 -3.40847008e+01] [-7.82621496e-02 -2.83471450e-03 9.96928784e-01 -2.10833730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.43629675700004 meters 0.07057275624595204 Centerline is valid? [True, True] Translation: X:178.13, Y:-34.10, Z:-21.08 [[ 9.17087826e-01 3.91629542e-01 7.46740996e-02 1.78131596e+02] [-3.90580757e-01 9.20118795e-01 -2.87763045e-02 -3.40988884e+01] [-7.99786935e-02 -2.77586780e-03 9.96792708e-01 -2.10824164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.46629675700004 meters 0.07079526925239293 Centerline is valid? [True, True] Translation: X:178.16, Y:-34.11, Z:-21.09 [[ 9.17297391e-01 3.91009970e-01 7.53438796e-02 1.78161768e+02] [-3.89938730e-01 9.20382394e-01 -2.90522854e-02 -3.41075163e+01] [-8.07049135e-02 -2.72991117e-03 9.96734300e-01 -2.10870489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.49629675700004 meters 0.0705308358111809 Centerline is valid? [True, True] Translation: X:178.19, Y:-34.12, Z:-21.09 [[ 9.17681079e-01 3.90078179e-01 7.55013399e-02 1.78190761e+02] [-3.88997503e-01 9.20777976e-01 -2.91352173e-02 -3.41173621e+01] [-8.08849835e-02 -2.63299509e-03 9.96719964e-01 -2.10902047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.52629675700004 meters 0.07034120016120925 Centerline is valid? [True, True] Translation: X:178.22, Y:-34.13, Z:-21.09 [[ 9.18692800e-01 3.87358840e-01 7.71794490e-02 1.78220612e+02] [-3.86217909e-01 9.21925838e-01 -2.98072993e-02 -3.41282442e+01] [-8.26998491e-02 -2.42433417e-03 9.96571552e-01 -2.10929769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.556296757 meters 0.06963297393274484 Centerline is valid? [True, True] Translation: X:178.25, Y:-34.14, Z:-21.09 [[ 9.18963534e-01 3.86704377e-01 7.72382482e-02 1.78249470e+02] [-3.85559209e-01 9.22200700e-01 -2.98322947e-02 -3.41415948e+01] [-8.27654455e-02 -2.36512688e-03 9.96566248e-01 -2.10941799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.586296757 meters 0.06955774111967572 Centerline is valid? [True, True] Translation: X:178.28, Y:-34.15, Z:-21.10 [[ 9.19815424e-01 3.84630997e-01 7.74505117e-02 1.78278405e+02] [-3.83470280e-01 9.23067882e-01 -2.99370756e-02 -3.41525625e+01] [-8.30068070e-02 -2.16338559e-03 9.96546632e-01 -2.10980956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.61629675700001 meters 0.06934443875400338 Centerline is valid? [True, True] Translation: X:178.31, Y:-34.16, Z:-21.10 [[ 9.20404045e-01 3.83314769e-01 7.69816998e-02 1.78309373e+02] [-3.82161576e-01 9.23615583e-01 -2.97789338e-02 -3.41623604e+01] [-8.25162027e-02 -2.01079664e-03 9.96587695e-01 -2.11019194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.64629675700002 meters 0.06943165289222035 Centerline is valid? [True, True] Translation: X:178.34, Y:-34.17, Z:-21.11 [[ 9.20581558e-01 3.82716434e-01 7.78314031e-02 1.78338681e+02] [-3.81534476e-01 9.23863766e-01 -3.01195115e-02 -3.41707927e+01] [-8.34328453e-02 -1.96789675e-03 9.96511459e-01 -2.11066984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.67629675700002 meters 0.06947546123632525 Centerline is valid? [True, True] Translation: X:178.37, Y:-34.18, Z:-21.11 [[ 9.20270529e-01 3.83509859e-01 7.76037416e-02 1.78369615e+02] [-3.82336782e-01 9.23534563e-01 -3.00415573e-02 -3.41779849e+01] [-8.31909710e-02 -2.02440505e-03 9.96531567e-01 -2.11098678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70629675700002 meters 0.06956790972236206 Centerline is valid? [True, True] Translation: X:178.40, Y:-34.19, Z:-21.11 [[ 9.19899319e-01 3.84689516e-01 7.61526031e-02 1.78399817e+02] [-3.83562166e-01 9.23043710e-01 -2.95021036e-02 -3.41869103e+01] [-8.16413312e-02 -2.07029242e-03 9.96659624e-01 -2.11143891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73629675700002 meters 0.06925758377803608 Centerline is valid? [True, True] Translation: X:178.43, Y:-34.20, Z:-21.12 [[ 9.19447647e-01 3.85581358e-01 7.70911156e-02 1.78430175e+02] [-3.84428557e-01 9.22671290e-01 -2.98726596e-02 -3.41980961e+01] [-8.26480998e-02 -2.16967974e-03 9.96576432e-01 -2.11162166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76629675700002 meters 0.06939130105618434 Centerline is valid? [True, True] Translation: X:178.46, Y:-34.20, Z:-21.12 [[ 9.18606810e-01 3.87604933e-01 7.69671653e-02 1.78461471e+02] [-3.86461055e-01 9.21822651e-01 -2.98471532e-02 -3.42039180e+01] [-8.25189802e-02 -2.32701371e-03 9.96586776e-01 -2.11200855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79629675700002 meters 0.06939250338181109 Centerline is valid? [True, True] Translation: X:178.49, Y:-34.21, Z:-21.12 [[ 9.17812335e-01 3.89426361e-01 7.72504227e-02 1.78492749e+02] [-3.88278791e-01 9.21054261e-01 -2.99771238e-02 -3.42111103e+01] [-8.28257132e-02 -2.48132682e-03 9.96560959e-01 -2.11234181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82629675700002 meters 0.06942335762743446 Centerline is valid? [True, True] Translation: X:178.52, Y:-34.22, Z:-21.13 [[ 9.17713807e-01 3.89396579e-01 7.85599902e-02 1.78523681e+02] [-3.88207259e-01 9.21066815e-01 -3.05130577e-02 -3.42209612e+01] [-8.42406802e-02 -2.49530405e-03 9.96442312e-01 -2.11266134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85629675700002 meters 0.06931880975255 Centerline is valid? [True, True] Translation: X:178.55, Y:-34.23, Z:-21.13 [[ 9.17602755e-01 3.89881145e-01 7.74459540e-02 1.78554176e+02] [-3.88726840e-01 9.20861791e-01 -3.00833056e-02 -3.42311477e+01] [-8.30459335e-02 -2.50079687e-03 9.96542583e-01 -2.11295583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.88629675700003 meters 0.06925379617918695 Centerline is valid? [True, True] Translation: X:178.58, Y:-34.24, Z:-21.13 [[ 9.17556759e-01 3.89789923e-01 7.84436734e-02 1.78583882e+02] [-3.88603377e-01 9.20900400e-01 -3.04937342e-02 -3.42415612e+01] [-8.41249605e-02 -2.50374440e-03 9.96452067e-01 -2.11336996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.91629675700003 meters 0.06941049790879598 Centerline is valid? [True, True] Translation: X:178.61, Y:-34.25, Z:-21.14 [[ 9.18058682e-01 3.88415611e-01 7.93824257e-02 1.78613832e+02] [-3.87193375e-01 9.21481212e-01 -3.08814993e-02 -3.42508179e+01] [-8.51442702e-02 -2.38532076e-03 9.96365778e-01 -2.11381849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.94629675700003 meters 0.06888523174874124 Centerline is valid? [True, True] Translation: X:178.64, Y:-34.26, Z:-21.14 [[ 9.18396221e-01 3.87382113e-01 8.05200626e-02 1.78643762e+02] [-3.86118324e-01 9.21916382e-01 -3.13500323e-02 -3.42640619e+01] [-8.63772065e-02 -2.29852044e-03 9.96259853e-01 -2.11392606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.97629675700003 meters 0.0689124355136627 Centerline is valid? [True, True] Translation: X:178.67, Y:-34.28, Z:-21.14 [[ 9.18565999e-01 3.86725152e-01 8.17322589e-02 1.78673281e+02] [-3.85419472e-01 9.22192249e-01 -3.18321606e-02 -3.42752974e+01] [-8.76831528e-02 -2.26126366e-03 9.96145848e-01 -2.11422232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.00629675700003 meters 0.06898259511782975 Centerline is valid? [True, True] Translation: X:178.70, Y:-34.29, Z:-21.14 [[ 9.18984822e-01 3.85357383e-01 8.34660698e-02 1.78703508e+02] [-3.83987805e-01 9.22764893e-01 -3.25317849e-02 -3.42850231e+01] [-8.95559225e-02 -2.15373641e-03 9.95979467e-01 -2.11433844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.03629675700003 meters 0.06876631870959922 Centerline is valid? [True, True] Translation: X:178.73, Y:-34.30, Z:-21.15 [[ 9.19041722e-01 3.84811099e-01 8.53389257e-02 1.78733375e+02] [-3.83374647e-01 9.22992904e-01 -3.32863096e-02 -3.42964971e+01] [-9.15761642e-02 -2.12527326e-03 9.95795807e-01 -2.11455478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.06629675700003 meters 0.06868791520051153 Centerline is valid? [True, True] Translation: X:178.76, Y:-34.30, Z:-21.15 [[ 9.18877676e-01 3.84341903e-01 8.91353900e-02 1.78762834e+02] [-3.82769680e-01 9.23188331e-01 -3.47947819e-02 -3.43035372e+01] [-9.56618447e-02 -2.14617631e-03 9.95411576e-01 -2.11481142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.09629675700003 meters 0.06871001288567279 Centerline is valid? [True, True] Translation: X:178.79, Y:-34.31, Z:-21.15 [[ 9.18671087e-01 3.84625180e-01 9.00383494e-02 1.78793339e+02] [-3.83020634e-01 9.23070261e-01 -3.51637169e-02 -3.43126210e+01] [-9.66365737e-02 -2.18265560e-03 9.95317341e-01 -2.11514103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.12629675700003 meters 0.068775983527971 Centerline is valid? [True, True] Translation: X:178.82, Y:-34.32, Z:-21.15 [[ 9.17837657e-01 3.86542140e-01 9.03283457e-02 1.78823997e+02] [-3.84934051e-01 9.22268703e-01 -3.53017678e-02 -3.43214419e+01] [-9.69526271e-02 -2.36916428e-03 9.95286178e-01 -2.11535553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.15629675700004 meters 0.06954103007623814 Centerline is valid? [True, True] Translation: X:178.85, Y:-34.33, Z:-21.16 [[ 9.16572404e-01 3.89352539e-01 9.11023041e-02 1.78854882e+02] [-3.87727952e-01 9.21084958e-01 -3.56305552e-02 -3.43263283e+01] [-9.77858090e-02 -2.66492613e-03 9.95203916e-01 -2.11572040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.18629675700004 meters 0.06946754441715187 Centerline is valid? [True, True] Translation: X:178.89, Y:-34.34, Z:-21.16 [[ 9.15905170e-01 3.91131093e-01 9.01897266e-02 1.78885002e+02] [-3.89545310e-01 9.20330702e-01 -3.52965925e-02 -3.43370991e+01] [-9.68099693e-02 -2.80465350e-03 9.95298932e-01 -2.11601387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.21629675700004 meters 0.0699194747994011 Centerline is valid? [True, True] Translation: X:178.92, Y:-34.34, Z:-21.16 [[ 9.14016905e-01 3.95895385e-01 8.85434426e-02 1.78916585e+02] [-3.94386692e-01 9.18289965e-01 -3.46796444e-02 -3.43415222e+01] [-9.50380660e-02 -3.22257420e-03 9.95468423e-01 -2.11646792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.24629675700004 meters 0.07062890573137878 Centerline is valid? [True, True] Translation: X:178.95, Y:-34.35, Z:-21.17 [[ 9.12875519e-01 3.98887416e-01 8.68741399e-02 1.78947229e+02] [-3.97447833e-01 9.16993385e-01 -3.40345759e-02 -3.43479174e+01] [-9.32389756e-02 -3.45860752e-03 9.95637751e-01 -2.11696286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.27629675700004 meters 0.07140646088806286 Centerline is valid? [True, True] Translation: X:178.98, Y:-34.35, Z:-21.17 [[ 9.10582369e-01 4.04640995e-01 8.42936188e-02 1.78978360e+02] [-4.03309722e-01 9.14467221e-01 -3.30298245e-02 -3.43529540e+01] [-9.04489724e-02 -3.92006014e-03 9.95893376e-01 -2.11741249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.306296757 meters 0.07210441924176514 Centerline is valid? [True, True] Translation: X:179.01, Y:-34.36, Z:-21.18 [[ 9.09469272e-01 4.07218587e-01 8.38967590e-02 1.79008894e+02] [-4.05908472e-01 9.13321377e-01 -3.28994595e-02 -3.43610997e+01] [-9.00219748e-02 -4.13335777e-03 9.95931202e-01 -2.11791517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.336296757 meters 0.07334242676181332 Centerline is valid? [True, True] Translation: X:179.04, Y:-34.37, Z:-21.18 [[ 9.07941439e-01 4.11397179e-01 7.99669018e-02 1.79038632e+02] [-4.10222795e-01 9.11445898e-01 -3.13629372e-02 -3.43667642e+01] [-8.57881285e-02 -4.32853560e-03 9.96304000e-01 -2.11841784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.36629675700001 meters 0.07359001567673502 Centerline is valid? [True, True] Translation: X:179.07, Y:-34.38, Z:-21.19 [[ 9.07675407e-01 4.12253050e-01 7.85670332e-02 1.79069062e+02] [-4.11121957e-01 9.11059123e-01 -3.08222537e-02 -3.43770540e+01] [-8.42857804e-02 -4.32403074e-03 9.96432241e-01 -2.11889169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.39629675700002 meters 0.07410114543109217 Centerline is valid? [True, True] Translation: X:179.10, Y:-34.38, Z:-21.19 [[ 9.08202448e-01 4.11477803e-01 7.65136031e-02 1.79099607e+02] [-4.10402386e-01 9.11410378e-01 -3.00167288e-02 -3.43847884e+01] [-8.20865095e-02 -4.14009871e-03 9.96616609e-01 -2.11948061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.42629675700002 meters 0.07515889851779 Centerline is valid? [True, True] Translation: X:179.13, Y:-34.39, Z:-21.20 [[ 9.09000423e-01 4.09965457e-01 7.51435663e-02 1.79129485e+02] [-4.08921191e-01 9.12092670e-01 -2.95028904e-02 -3.43931618e+01] [-8.06330620e-02 -3.90965674e-03 9.96736186e-01 -2.12013212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45629675700002 meters 0.07299818224238612 Centerline is valid? [True, True] Translation: X:179.16, Y:-34.41, Z:-21.20 [[ 9.10952372e-01 4.05812119e-01 7.40425516e-02 1.79155268e+02] [-4.04782646e-01 9.13949946e-01 -2.90947867e-02 -3.44148760e+01] [-7.94782031e-02 -3.46717498e-03 9.96830574e-01 -2.12015495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48629675700002 meters 0.07267996904750419 Centerline is valid? [True, True] Translation: X:179.18, Y:-34.43, Z:-21.21 [[ 9.12400329e-01 4.02535363e-01 7.41007523e-02 1.79182133e+02] [-4.01492931e-01 9.15398921e-01 -2.91246014e-02 -3.44283848e+01] [-7.95554307e-02 -3.17763239e-03 9.96825379e-01 -2.12050933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51629675700002 meters 0.0715793227579333 Centerline is valid? [True, True] Translation: X:179.21, Y:-34.45, Z:-21.21 [[ 9.15081334e-01 3.96354715e-01 7.43578631e-02 1.79208765e+02] [-3.95284443e-01 9.18093642e-01 -2.92279547e-02 -3.44468758e+01] [-7.98521190e-02 -2.64655068e-03 9.96803208e-01 -2.12083107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54629675700002 meters 0.07130786382634233 Centerline is valid? [True, True] Translation: X:179.24, Y:-34.46, Z:-21.21 [[ 9.16388026e-01 3.93182632e-01 7.51026248e-02 1.79236706e+02] [-3.92079669e-01 9.19457293e-01 -2.95265940e-02 -3.44593002e+01] [-8.06630001e-02 -2.38839507e-03 9.96738570e-01 -2.12135240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57629675700002 meters 0.07130786382634233 Centerline is valid? [True, True] Translation: X:179.27, Y:-34.47, Z:-21.22 [[ 9.16280507e-01 3.93433134e-01 7.51026069e-02 1.79266677e+02] [-3.92331006e-01 9.19350074e-01 -2.95266428e-02 -3.44711818e+01] [-8.06623468e-02 -2.41039410e-03 9.96738569e-01 -2.12171338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60629675700002 meters 0.07061746084585532 Centerline is valid? [True, True] Translation: X:179.29, Y:-34.49, Z:-21.22 [[ 9.18567825e-01 3.87737069e-01 7.67666331e-02 1.79293079e+02] [-3.86563258e-01 9.21768005e-01 -3.02091450e-02 -3.44894537e+01] [-8.24742316e-02 -1.92601116e-03 9.96591336e-01 -2.12204833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.63629675700003 meters 0.07027492532443495 Centerline is valid? [True, True] Translation: X:179.32, Y:-34.50, Z:-21.22 [[ 9.19564554e-01 3.85264933e-01 7.72784710e-02 1.79320856e+02] [-3.84065571e-01 9.22804438e-01 -3.04237884e-02 -3.45049867e+01] [-8.30341348e-02 -1.70336267e-03 9.96545248e-01 -2.12238524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.66629675700003 meters 0.06994475526746659 Centerline is valid? [True, True] Translation: X:179.35, Y:-34.52, Z:-21.23 [[ 9.21412063e-01 3.80312930e-01 7.97614253e-02 1.79345798e+02] [-3.79014414e-01 9.24856990e-01 -3.14264554e-02 -3.45240827e+01] [-8.57197990e-02 -1.27401478e-03 9.96318470e-01 -2.12281814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.69629675700003 meters 0.06972640579784763 Centerline is valid? [True, True] Translation: X:179.37, Y:-34.54, Z:-21.23 [[ 9.21670291e-01 3.79604568e-01 8.01513988e-02 1.79373913e+02] [-3.78289311e-01 9.25148059e-01 -3.15953367e-02 -3.45410371e+01] [-8.61456452e-02 -1.19993429e-03 9.96281832e-01 -2.12286980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.72629675700003 meters 0.06958347053167667 Centerline is valid? [True, True] Translation: X:179.40, Y:-34.56, Z:-21.23 [[ 9.21644751e-01 3.79427373e-01 8.12762005e-02 1.79401597e+02] [-3.78071880e-01 9.25220777e-01 -3.20650408e-02 -3.45554696e+01] [-8.73647836e-02 -1.17566936e-03 9.96175694e-01 -2.12335330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.75629675700003 meters 0.0694898244069984 Centerline is valid? [True, True] Translation: X:179.43, Y:-34.57, Z:-21.24 [[ 9.21156386e-01 3.80789685e-01 8.04371052e-02 1.79430527e+02] [-3.79466349e-01 9.24660788e-01 -3.17445499e-02 -3.45678428e+01] [-8.64650343e-02 -1.28147975e-03 9.96254062e-01 -2.12368076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.78629675700003 meters 0.06991394622978649 Centerline is valid? [True, True] Translation: X:179.46, Y:-34.58, Z:-21.24 [[ 9.19461919e-01 3.84851476e-01 8.04929909e-02 1.79459837e+02] [-3.83539936e-01 9.22977052e-01 -3.17880451e-02 -3.45784962e+01] [-8.65268595e-02 -1.64437961e-03 9.96248161e-01 -2.12424493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.81629675700003 meters 0.07086385388752461 Centerline is valid? [True, True] Translation: X:179.49, Y:-34.59, Z:-21.25 [[ 9.17111440e-01 3.90875942e-01 7.82470757e-02 1.79488917e+02] [-3.89656805e-01 9.20440903e-01 -3.09211797e-02 -3.45884130e+01] [-8.41081542e-02 -2.13133790e-03 9.96454352e-01 -2.12480616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.84629675700003 meters 0.07127546141064746 Centerline is valid? [True, True] Translation: X:179.52, Y:-34.60, Z:-21.25 [[ 9.15996162e-01 3.94031643e-01 7.54327174e-02 1.79518294e+02] [-3.92907577e-01 9.19093965e-01 -2.98315190e-02 -3.45997567e+01] [-8.10843178e-02 -2.31252928e-03 9.96704563e-01 -2.12524244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.87629675700003 meters 0.07122778721112577 Centerline is valid? [True, True] Translation: X:179.55, Y:-34.61, Z:-21.25 [[ 9.14976935e-01 3.96738220e-01 7.35934347e-02 1.79547037e+02] [-3.95676896e-01 9.17928428e-01 -2.91066335e-02 -3.46129476e+01] [-7.91012198e-02 -2.48732344e-03 9.96863486e-01 -2.12543974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.90629675700004 meters 0.07290815771895875 Centerline is valid? [True, True] Translation: X:179.58, Y:-34.62, Z:-21.26 [[ 9.12989710e-01 4.01807371e-01 7.07151043e-02 1.79576296e+02] [-4.00841201e-01 9.15719954e-01 -2.79874411e-02 -3.46198605e+01] [-7.60007922e-02 -2.79328163e-03 9.97103845e-01 -2.12632686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.93629675700004 meters 0.07378903408736748 Centerline is valid? [True, True] Translation: X:179.61, Y:-34.63, Z:-21.27 [[ 9.12257546e-01 4.03763094e-01 6.90038699e-02 1.79605457e+02] [-4.02847340e-01 9.14859085e-01 -2.73290263e-02 -3.46288932e+01] [-7.41632695e-02 -2.86691502e-03 9.97241992e-01 -2.12692261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.96629675700004 meters 0.07416016551793987 Centerline is valid? [True, True] Translation: X:179.63, Y:-34.64, Z:-21.27 [[ 9.11500472e-01 4.05583915e-01 6.83269951e-02 1.79634697e+02] [-4.04690675e-01 9.14052959e-01 -2.70674231e-02 -3.46420173e+01] [-7.34326035e-02 -2.97932889e-03 9.97295732e-01 -2.12721228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.99629675700004 meters 0.0736963703840361 Centerline is valid? [True, True] Translation: X:179.66, Y:-34.66, Z:-21.27 [[ 9.11977147e-01 4.04653093e-01 6.74800592e-02 1.79662672e+02] [-4.03779482e-01 9.14465766e-01 -2.67299819e-02 -3.46597460e+01] [-7.25245739e-02 -2.86993072e-03 9.97362497e-01 -2.12736902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.02629675700004 meters 0.07289833413068286 Centerline is valid? [True, True] Translation: X:179.69, Y:-34.68, Z:-21.27 [[ 9.12534424e-01 4.03550952e-01 6.65398750e-02 1.79690841e+02] [-4.02697341e-01 9.14953110e-01 -2.63753417e-02 -3.46770468e+01] [-7.15246598e-02 -2.72702356e-03 9.97435104e-01 -2.12745655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.056296757 meters 0.07348037299754942 Centerline is valid? [True, True] Translation: X:179.72, Y:-34.69, Z:-21.28 [[ 9.13235411e-01 4.01935781e-01 6.66986592e-02 1.79719455e+02] [-4.01072402e-01 9.15664199e-01 -2.64575742e-02 -3.46891432e+01] [-7.17078201e-02 -2.58899779e-03 9.97422321e-01 -2.12810542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.086296757 meters 0.0724296563797144 Centerline is valid? [True, True] Translation: X:179.75, Y:-34.71, Z:-21.28 [[ 9.15130965e-01 3.97741908e-01 6.58535634e-02 1.79745384e+02] [-3.96887922e-01 9.17494678e-01 -2.61437131e-02 -3.47086824e+01] [-7.08187442e-02 -2.21156254e-03 9.97486749e-01 -2.12830811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.11629675700001 meters 0.0719769165617536 Centerline is valid? [True, True] Translation: X:179.77, Y:-34.72, Z:-21.29 [[ 9.16166443e-01 3.95368229e-01 6.57496249e-02 1.79773965e+02] [-3.94509561e-01 9.18520512e-01 -2.61204085e-02 -3.47244455e+01] [-7.07195588e-02 -2.00821387e-03 9.97494216e-01 -2.12865025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.14629675700002 meters 0.07143537824981062 Centerline is valid? [True, True] Translation: X:179.80, Y:-34.74, Z:-21.29 [[ 9.17800703e-01 3.91372831e-01 6.68518976e-02 1.79800740e+02] [-3.90473890e-01 9.20230594e-01 -2.65668131e-02 -3.47419668e+01] [-7.19166902e-02 -1.72088073e-03 9.97409158e-01 -2.12892382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.17629675700002 meters 0.0714717188505204 Centerline is valid? [True, True] Translation: X:179.83, Y:-34.75, Z:-21.30 [[ 9.18246009e-01 3.90234936e-01 6.73866602e-02 1.79829219e+02] [-3.89318763e-01 9.20713841e-01 -2.67754306e-02 -3.47544232e+01] [-7.24925392e-02 -1.64845890e-03 9.97367592e-01 -2.12953285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20629675700002 meters 0.07132416920337577 Centerline is valid? [True, True] Translation: X:179.86, Y:-34.77, Z:-21.30 [[ 9.18645284e-01 3.88944020e-01 6.93786140e-02 1.79856277e+02] [-3.87967190e-01 9.21260055e-01 -2.75929400e-02 -3.47673930e+01] [-7.46478548e-02 -1.56850170e-03 9.97208723e-01 -2.12984879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23629675700002 meters 0.07069327635905667 Centerline is valid? [True, True] Translation: X:179.89, Y:-34.78, Z:-21.30 [[ 9.18180244e-01 3.89840845e-01 7.04922313e-02 1.79885481e+02] [-3.88834758e-01 9.20880743e-01 -2.80390313e-02 -3.47806236e+01] [-7.58456980e-02 -1.66494510e-03 9.97118177e-01 -2.12985305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26629675700002 meters 0.07049543653604926 Centerline is valid? [True, True] Translation: X:179.92, Y:-34.79, Z:-21.30 [[ 9.17644635e-01 3.90951051e-01 7.13133904e-02 1.79915243e+02] [-3.89923173e-01 9.20409790e-01 -2.83855188e-02 -3.47927630e+01] [-7.67348911e-02 -1.75892439e-03 9.97049980e-01 -2.12993527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29629675700002 meters 0.07072272097812984 Centerline is valid? [True, True] Translation: X:179.95, Y:-34.80, Z:-21.30 [[ 9.17020246e-01 3.92284083e-01 7.20212912e-02 1.79945054e+02] [-3.91238199e-01 9.19842215e-01 -2.86874909e-02 -3.48018408e+01] [-7.75018700e-02 -1.87047022e-03 9.96990452e-01 -2.13047069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32629675700002 meters 0.07073793537690254 Centerline is valid? [True, True] Translation: X:179.98, Y:-34.81, Z:-21.31 [[ 9.15186488e-01 3.96539263e-01 7.20437680e-02 1.79976613e+02] [-3.95503603e-01 9.18015116e-01 -2.87253727e-02 -3.48098412e+01] [-7.75280062e-02 -2.20449681e-03 9.96987737e-01 -2.13077143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35629675700002 meters 0.07177344108033468 Centerline is valid? [True, True] Translation: X:180.01, Y:-34.81, Z:-21.31 [[ 9.12678362e-01 4.02227259e-01 7.23286873e-02 1.80007552e+02] [-4.01200827e-01 9.15535895e-01 -2.88430504e-02 -3.48146084e+01] [-7.78209705e-02 -2.69390119e-03 9.96963710e-01 -2.13126773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.38629675700003 meters 0.07242541820421748 Centerline is valid? [True, True] Translation: X:180.04, Y:-34.82, Z:-21.32 [[ 9.11340266e-01 4.05464365e-01 7.11165770e-02 1.80037987e+02] [-4.04481485e-01 9.14106203e-01 -2.83650764e-02 -3.48231190e+01] [-7.65091319e-02 -2.91510241e-03 9.97064619e-01 -2.13171854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.41629675700003 meters 0.07290602958422374 Centerline is valid? [True, True] Translation: X:180.07, Y:-34.83, Z:-21.32 [[ 9.09996213e-01 4.08576099e-01 7.05156991e-02 1.80068133e+02] [-4.07617771e-01 9.12718878e-01 -2.81425371e-02 -3.48314056e+01] [-7.58593778e-02 -3.13384992e-03 9.97113601e-01 -2.13213874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.44629675700003 meters 0.07445896168760081 Centerline is valid? [True, True] Translation: X:180.10, Y:-34.84, Z:-21.33 [[ 9.08078961e-01 4.13408218e-01 6.69794391e-02 1.80099195e+02] [-4.12555573e-01 9.10539656e-01 -2.67476178e-02 -3.48366378e+01] [-7.20451204e-02 -3.34379189e-03 9.97395769e-01 -2.13271689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.47629675700003 meters 0.0740547182374257 Centerline is valid? [True, True] Translation: X:180.13, Y:-34.85, Z:-21.33 [[ 9.07495548e-01 4.15021265e-01 6.48781877e-02 1.80128048e+02] [-4.14224572e-01 9.09805539e-01 -2.59207382e-02 -3.48493558e+01] [-6.97841920e-02 -3.35118504e-03 9.97556483e-01 -2.13288144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.50629675700003 meters 0.07513823516431348 Centerline is valid? [True, True] Translation: X:180.16, Y:-34.86, Z:-21.33 [[ 9.06954814e-01 4.16538258e-01 6.26804943e-02 1.80157042e+02] [-4.15797226e-01 9.09112068e-01 -2.50582191e-02 -3.48588520e+01] [-6.74213007e-02 -3.33570322e-03 9.97719019e-01 -2.13349671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.53629675700003 meters 0.07592205773977692 Centerline is valid? [True, True] Translation: X:180.19, Y:-34.87, Z:-21.34 [[ 9.07465301e-01 4.15485563e-01 6.22773955e-02 1.80186025e+02] [-4.14750300e-01 9.09594076e-01 -2.49159584e-02 -3.48684968e+01] [-6.69993710e-02 -3.21920070e-03 9.97747824e-01 -2.13415330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.56629675700003 meters 0.07613056874302375 Centerline is valid? [True, True] Translation: X:180.22, Y:-34.88, Z:-21.35 [[ 9.07956090e-01 4.14460818e-01 6.19513429e-02 1.80215139e+02] [-4.13730507e-01 9.10061801e-01 -2.47908392e-02 -3.48808489e+01] [-6.66543822e-02 -3.12216709e-03 9.97771239e-01 -2.13451342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.59629675700003 meters 0.07470006845365901 Centerline is valid? [True, True] Translation: X:180.24, Y:-34.90, Z:-21.35 [[ 9.08989168e-01 4.12172771e-01 6.20668931e-02 1.80242526e+02] [-4.11433118e-01 9.11100955e-01 -2.48563686e-02 -3.48958878e+01] [-6.67943239e-02 -2.94220561e-03 9.97762427e-01 -2.13468765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.62629675700003 meters 0.07237609341413342 Centerline is valid? [True, True] Translation: X:180.27, Y:-34.92, Z:-21.34 [[ 9.10908469e-01 4.07628964e-01 6.39092215e-02 1.80268901e+02] [-4.06832717e-01 9.13143729e-01 -2.56060866e-02 -3.49169660e+01] [-6.87960874e-02 -2.67556105e-03 9.97627155e-01 -2.13440517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.65629675700004 meters 0.07158964687045408 Centerline is valid? [True, True] Translation: X:180.30, Y:-34.93, Z:-21.35 [[ 9.12791089e-01 4.03011237e-01 6.62900437e-02 1.80295761e+02] [-4.02141023e-01 9.15191889e-01 -2.65782453e-02 -3.49345463e+01] [-7.13794418e-02 -2.39756050e-03 9.97446353e-01 -2.13450972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.68629675700004 meters 0.07156637306194051 Centerline is valid? [True, True] Translation: X:180.32, Y:-34.95, Z:-21.35 [[ 9.13598177e-01 4.00870957e-01 6.81237576e-02 1.80322705e+02] [-3.99944236e-01 9.16131714e-01 -2.73366038e-02 -3.49479720e+01] [-7.33687854e-02 -2.27103281e-03 9.97302293e-01 -2.13490189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.71629675700004 meters 0.07112598725520332 Centerline is valid? [True, True] Translation: X:180.35, Y:-34.96, Z:-21.35 [[ 9.14772031e-01 3.97759901e-01 7.05633927e-02 1.80349789e+02] [-3.96755805e-01 9.17487166e-01 -2.83219179e-02 -3.49637038e+01] [-7.60063305e-02 -2.08833734e-03 9.97105148e-01 -2.13521446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.74629675700004 meters 0.07106012129140032 Centerline is valid? [True, True] Translation: X:180.38, Y:-34.98, Z:-21.36 [[ 9.15155226e-01 3.96872251e-01 7.05927039e-02 1.80377545e+02] [-3.95863623e-01 9.17871672e-01 -2.83475922e-02 -3.49763031e+01] [-7.60454158e-02 -2.00263635e-03 9.97102344e-01 -2.13559942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.77629675700004 meters 0.070729047973475 Centerline is valid? [True, True] Translation: X:180.41, Y:-34.99, Z:-21.36 [[ 9.15142481e-01 3.96289154e-01 7.39536778e-02 1.80405801e+02] [-3.95178412e-01 9.18123518e-01 -2.97191440e-02 -3.49887816e+01] [-7.96759853e-02 -2.02764580e-03 9.96818753e-01 -2.13588550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.806296757 meters 0.0708493752749296 Centerline is valid? [True, True] Translation: X:180.44, Y:-35.00, Z:-21.36 [[ 9.14618916e-01 3.97291545e-01 7.50444295e-02 1.80435398e+02] [-3.96149968e-01 9.17689968e-01 -3.01716073e-02 -3.49999692e+01] [-8.08544446e-02 -2.13332555e-03 9.96723637e-01 -2.13615401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.836296757 meters 0.07142801500922755 Centerline is valid? [True, True] Translation: X:180.47, Y:-35.01, Z:-21.37 [[ 9.13461873e-01 4.00026895e-01 7.46048947e-02 1.80466408e+02] [-3.98905639e-01 9.16500421e-01 -3.00211612e-02 -3.50088308e+01] [-8.03846893e-02 -2.33712709e-03 9.96761175e-01 -2.13657138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.86629675700001 meters 0.07180880645903262 Centerline is valid? [True, True] Translation: X:180.50, Y:-35.02, Z:-21.37 [[ 9.12445164e-01 4.02455289e-01 7.39835296e-02 1.80496425e+02] [-4.01360563e-01 9.15436150e-01 -2.97716984e-02 -3.50183562e+01] [-7.97089749e-02 -2.52902882e-03 9.96814969e-01 -2.13690240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.89629675700002 meters 0.07225322694295529 Centerline is valid? [True, True] Translation: X:180.53, Y:-35.03, Z:-21.37 [[ 9.11394495e-01 4.04871080e-01 7.37528475e-02 1.80525544e+02] [-4.03789254e-01 9.14369761e-01 -2.97014867e-02 -3.50266289e+01] [-7.94626465e-02 -2.71083582e-03 9.96834158e-01 -2.13742090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.92629675700002 meters 0.07328776075542616 Centerline is valid? [True, True] Translation: X:180.56, Y:-35.03, Z:-21.38 [[ 9.09693169e-01 4.09185185e-01 7.08930423e-02 1.80555970e+02] [-4.08197879e-01 9.12446571e-01 -2.85612922e-02 -3.50332628e+01] [-7.63729710e-02 -2.95637711e-03 9.97074937e-01 -2.13803437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95629675700002 meters 0.07404624937838075 Centerline is valid? [True, True] Translation: X:180.59, Y:-35.04, Z:-21.39 [[ 9.08618101e-01 4.12270763e-01 6.66780671e-02 1.80585975e+02] [-4.11405542e-01 9.11056361e-01 -2.68660875e-02 -3.50406059e+01] [-7.18235796e-02 -3.02071301e-03 9.97412777e-01 -2.13866916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98629675700002 meters 0.07435610688534841 Centerline is valid? [True, True] Translation: X:180.62, Y:-35.05, Z:-21.39 [[ 9.07985291e-01 4.13694341e-01 6.64808566e-02 1.80615789e+02] [-4.12837947e-01 9.10410479e-01 -2.67878660e-02 -3.50513275e+01] [-7.16068570e-02 -3.12283206e-03 9.97428045e-01 -2.13913487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01629675700002 meters 0.07498904324442535 Centerline is valid? [True, True] Translation: X:180.64, Y:-35.06, Z:-21.40 [[ 9.07885422e-01 4.14082220e-01 6.54215162e-02 1.80644404e+02] [-4.13252596e-01 9.10234252e-01 -2.63798959e-02 -3.50611881e+01] [-7.04723507e-02 -3.08568850e-03 9.97508961e-01 -2.13975141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04629675700002 meters 0.07465614224595872 Centerline is valid? [True, True] Translation: X:180.67, Y:-35.08, Z:-21.40 [[ 9.08956233e-01 4.11864498e-01 6.45461225e-02 1.80672522e+02] [-4.11050264e-01 9.11240613e-01 -2.60427476e-02 -3.50758168e+01] [-6.95431314e-02 -2.85998298e-03 9.97574846e-01 -2.14022005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07629675700002 meters 0.07448149668884425 Centerline is valid? [True, True] Translation: X:180.70, Y:-35.09, Z:-21.41 [[ 9.09616492e-01 4.10341639e-01 6.49428789e-02 1.80700332e+02] [-4.09512089e-01 9.11927749e-01 -2.62226851e-02 -3.50897512e+01] [-6.99834730e-02 -2.74230720e-03 9.97544382e-01 -2.14059699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10629675700002 meters 0.07424585669144768 Centerline is valid? [True, True] Translation: X:180.73, Y:-35.11, Z:-21.41 [[ 9.11547027e-01 4.05887729e-01 6.58571929e-02 1.80726619e+02] [-4.05021802e-01 9.13919747e-01 -2.66089605e-02 -3.51053236e+01] [-7.09884396e-02 -2.41828006e-03 9.97474207e-01 -2.14097983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.13629675700003 meters 0.07349524204214568 Centerline is valid? [True, True] Translation: X:180.75, Y:-35.12, Z:-21.41 [[ 9.13809152e-01 4.00319700e-01 6.85344572e-02 1.80752978e+02] [-3.99365128e-01 9.16373244e-01 -2.77050896e-02 -3.51239703e+01] [-7.38940360e-02 -2.05310787e-03 9.97263985e-01 -2.14124935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.16629675700003 meters 0.07323766417848858 Centerline is valid? [True, True] Translation: X:180.78, Y:-35.14, Z:-21.42 [[ 9.14957305e-01 3.97345379e-01 7.04966679e-02 1.80779408e+02] [-3.96324824e-01 9.17667285e-01 -2.85199620e-02 -3.51380928e+01] [-7.60247609e-02 -1.84503199e-03 9.97104223e-01 -2.14163196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.19629675700003 meters 0.07239698547087367 Centerline is valid? [True, True] Translation: X:180.81, Y:-35.16, Z:-21.41 [[ 9.16702638e-01 3.92791975e-01 7.32853219e-02 1.80805299e+02] [-3.91673913e-01 9.19626095e-01 -2.96545186e-02 -3.51586398e+01] [-7.90431514e-02 -1.51957336e-03 9.96870037e-01 -2.14137764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.22629675700003 meters 0.07242558773012853 Centerline is valid? [True, True] Translation: X:180.83, Y:-35.17, Z:-21.42 [[ 9.17373649e-01 3.90482438e-01 7.71301058e-02 1.80832415e+02] [-3.89233989e-01 9.20609354e-01 -3.12300945e-02 -3.51713400e+01] [-8.32015003e-02 -1.37199297e-03 9.96531800e-01 -2.14198235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.25629675700003 meters 0.07205575541759733 Centerline is valid? [True, True] Translation: X:180.86, Y:-35.19, Z:-21.42 [[ 9.17785704e-01 3.89108489e-01 7.91453468e-02 1.80860127e+02] [-3.87787111e-01 9.21191071e-01 -3.20650525e-02 -3.51884749e+01] [-8.53847710e-02 -1.26269858e-03 9.96347252e-01 -2.14205927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.28629675700003 meters 0.07251720336504255 Centerline is valid? [True, True] Translation: X:180.89, Y:-35.20, Z:-21.43 [[ 9.17571222e-01 3.89595951e-01 7.92341313e-02 1.80889360e+02] [-3.88271528e-01 9.20984980e-01 -3.21230086e-02 -3.51990283e+01] [-8.54884389e-02 -1.28920896e-03 9.96338328e-01 -2.14275516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.31629675700003 meters 0.07277077069163493 Centerline is valid? [True, True] Translation: X:180.92, Y:-35.21, Z:-21.43 [[ 9.16208481e-01 3.92531913e-01 8.05028938e-02 1.80919345e+02] [-3.91173737e-01 9.19737054e-01 -3.26628048e-02 -3.52102264e+01] [-8.68626876e-02 -1.56467905e-03 9.96219065e-01 -2.14303732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.34629675700003 meters 0.0731580295120501 Centerline is valid? [True, True] Translation: X:180.95, Y:-35.22, Z:-21.43 [[ 9.15150101e-01 3.94758082e-01 8.16477096e-02 1.80948733e+02] [-3.93367694e-01 9.18783374e-01 -3.31506910e-02 -3.52200203e+01] [-8.81030613e-02 -1.77971302e-03 9.96109775e-01 -2.14343024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.37629675700003 meters 0.07342679170186896 Centerline is valid? [True, True] Translation: X:180.98, Y:-35.23, Z:-21.44 [[ 9.13875325e-01 3.97622091e-01 8.20278184e-02 1.80979041e+02] [-3.96228382e-01 9.17546993e-01 -3.33254274e-02 -3.52310295e+01] [-8.85153042e-02 -2.04646401e-03 9.96072715e-01 -2.14380330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.40629675700004 meters 0.07401501234578614 Centerline is valid? [True, True] Translation: X:181.01, Y:-35.24, Z:-21.44 [[ 9.11029733e-01 4.04087515e-01 8.20859684e-02 1.81009658e+02] [-4.02715859e-01 9.14716478e-01 -3.33721678e-02 -3.52396398e+01] [-8.85706642e-02 -2.65428422e-03 9.96066359e-01 -2.14399569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.43629675700004 meters 0.07447570493099619 Centerline is valid? [True, True] Translation: X:181.04, Y:-35.25, Z:-21.44 [[ 9.09646980e-01 4.07415457e-01 8.09630586e-02 1.81039560e+02] [-4.06092421e-01 9.13238267e-01 -3.29365115e-02 -3.52485524e+01] [-8.73574071e-02 -2.91788623e-03 9.96172761e-01 -2.14441627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.46629675700004 meters 0.07447570493099619 Centerline is valid? [True, True] Translation: X:181.07, Y:-35.26, Z:-21.45 [[ 9.09531637e-01 4.07674252e-01 8.09561913e-02 1.81069373e+02] [-4.06350739e-01 9.13122747e-01 -3.29533811e-02 -3.52607640e+01] [-8.73571848e-02 -2.92446552e-03 9.96172761e-01 -2.14477778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.49629675700004 meters 0.07591226781316837 Centerline is valid? [True, True] Translation: X:181.10, Y:-35.26, Z:-21.45 [[ 9.06253583e-01 4.15086359e-01 8.00484720e-02 1.81100798e+02] [-4.13818673e-01 9.09775007e-01 -3.26119899e-02 -3.52647455e+01] [-8.63628914e-02 -3.57081975e-03 9.96257346e-01 -2.14533568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.52629675700004 meters 0.07707439883688276 Centerline is valid? [True, True] Translation: X:181.13, Y:-35.27, Z:-21.46 [[ 9.04629357e-01 4.18749703e-01 7.93373399e-02 1.81130758e+02] [-4.17516850e-01 9.08093457e-01 -3.23412129e-02 -3.52717846e+01] [-8.55885925e-02 -3.86786563e-03 9.96323056e-01 -2.14594603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.556296757 meters 0.07792121954370244 Centerline is valid? [True, True] Translation: X:181.16, Y:-35.28, Z:-21.46 [[ 9.02167354e-01 4.24404062e-01 7.72997898e-02 1.81161601e+02] [-4.23252462e-01 9.05462849e-01 -3.15338189e-02 -3.52802247e+01] [-8.33751688e-02 -4.26854437e-03 9.96509087e-01 -2.14648484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.586296757 meters 0.07926922612186021 Centerline is valid? [True, True] Translation: X:181.19, Y:-35.29, Z:-21.47 [[ 9.01288636e-01 4.26256938e-01 7.73551353e-02 1.81191690e+02] [-4.25110077e-01 9.04591245e-01 -3.15610943e-02 -3.52877803e+01] [-8.34279135e-02 -4.43879187e-03 9.96503929e-01 -2.14707317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.61629675700001 meters 0.07907912291588973 Centerline is valid? [True, True] Translation: X:181.22, Y:-35.30, Z:-21.48 [[ 9.00903481e-01 4.26932149e-01 7.81143882e-02 1.81221339e+02] [-4.25763503e-01 9.04272325e-01 -3.18904766e-02 -3.53011458e+01] [-8.42517492e-02 -4.52801415e-03 9.96434213e-01 -2.14750878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.64629675700002 meters 0.07882686377632939 Centerline is valid? [True, True] Translation: X:181.25, Y:-35.31, Z:-21.48 [[ 9.00948940e-01 4.26738196e-01 7.86480786e-02 1.81249961e+02] [-4.25550474e-01 9.04363928e-01 -3.21353481e-02 -3.53149458e+01] [-8.48398658e-02 -4.51641929e-03 9.96384363e-01 -2.14786205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.67629675700002 meters 0.07821436491149648 Centerline is valid? [True, True] Translation: X:181.28, Y:-35.33, Z:-21.48 [[ 9.01430056e-01 4.25663948e-01 7.89560471e-02 1.81278247e+02] [-4.24460846e-01 9.04870564e-01 -3.22839368e-02 -3.53307650e+01] [-8.51871109e-02 -4.41203956e-03 9.96355203e-01 -2.14813896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70629675700002 meters 0.07797823021635411 Centerline is valid? [True, True] Translation: X:181.31, Y:-35.35, Z:-21.49 [[ 9.02945746e-01 4.22397191e-01 7.91807644e-02 1.81305933e+02] [-4.21172627e-01 9.06401599e-01 -3.24000000e-02 -3.53461822e+01] [-8.54552404e-02 -4.09332836e-03 9.96333602e-01 -2.14856512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73629675700002 meters 0.07781365236097747 Centerline is valid? [True, True] Translation: X:181.33, Y:-35.36, Z:-21.49 [[ 9.04316870e-01 4.18968884e-01 8.17072413e-02 1.81333060e+02] [-4.17648972e-01 9.07992341e-01 -3.34551334e-02 -3.53611282e+01] [-8.82062092e-02 -3.87090377e-03 9.96094715e-01 -2.14893167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76629675700002 meters 0.0767667064733183 Centerline is valid? [True, True] Translation: X:181.36, Y:-35.38, Z:-21.49 [[ 9.04873137e-01 4.17553901e-01 8.27849345e-02 1.81360468e+02] [-4.16190872e-01 9.08644372e-01 -3.39199659e-02 -3.53786870e+01] [-8.93854789e-02 -3.76106808e-03 9.95990005e-01 -2.14913348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79629675700002 meters 0.07630971198116379 Centerline is valid? [True, True] Translation: X:181.39, Y:-35.39, Z:-21.49 [[ 9.05477138e-01 4.16027930e-01 8.38565127e-02 1.81388706e+02] [-4.14622237e-01 9.09344504e-01 -3.43653140e-02 -3.53938699e+01] [-9.05513894e-02 -3.65176875e-03 9.95885089e-01 -2.14941018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82629675700002 meters 0.0770275736049247 Centerline is valid? [True, True] Translation: X:181.42, Y:-35.40, Z:-21.50 [[ 9.06149999e-01 4.14401386e-01 8.46384657e-02 1.81416710e+02] [-4.12961763e-01 9.10087424e-01 -3.46909564e-02 -3.54045045e+01] [-9.14043837e-02 -3.51723985e-03 9.95807646e-01 -2.14987958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85629675700002 meters 0.07725113749141553 Centerline is valid? [True, True] Translation: X:181.45, Y:-35.42, Z:-21.50 [[ 9.05702170e-01 4.15228540e-01 8.53746970e-02 1.81446054e+02] [-4.13766294e-01 9.09709923e-01 -3.50044323e-02 -3.54180071e+01] [-9.22010483e-02 -3.62158167e-03 9.95733825e-01 -2.15023017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.88629675700003 meters 0.077244464300576 Centerline is valid? [True, True] Translation: X:181.48, Y:-35.43, Z:-21.51 [[ 9.05126350e-01 4.16492039e-01 8.53268488e-02 1.81475274e+02] [-4.15036060e-01 9.09131676e-01 -3.49952163e-02 -3.54309693e+01] [-9.21485700e-02 -3.73862667e-03 9.95738251e-01 -2.15061239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.91629675700003 meters 0.07763536995651549 Centerline is valid? [True, True] Translation: X:181.50, Y:-35.44, Z:-21.51 [[ 9.03902814e-01 4.19032736e-01 8.58560949e-02 1.81504636e+02] [-4.17567456e-01 9.07962326e-01 -3.52396591e-02 -3.54424699e+01] [-9.27206704e-02 -3.99748411e-03 9.95684135e-01 -2.15110922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.94629675700003 meters 0.0775078883161606 Centerline is valid? [True, True] Translation: X:181.53, Y:-35.46, Z:-21.51 [[ 9.03224808e-01 4.20688841e-01 8.48872508e-02 1.81533641e+02] [-4.19263164e-01 9.07195665e-01 -3.48485999e-02 -3.54559557e+01] [-9.16697630e-02 -4.11397748e-03 9.95780965e-01 -2.15144875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.97629675700003 meters 0.07846405365261575 Centerline is valid? [True, True] Translation: X:181.56, Y:-35.47, Z:-21.52 [[ 9.01909220e-01 4.23726578e-01 8.37588555e-02 1.81562482e+02] [-4.22351250e-01 9.05779654e-01 -3.43895235e-02 -3.54651452e+01] [-9.04388223e-02 -4.35942903e-03 9.95892472e-01 -2.15190779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.00629675700003 meters 0.07895487888321194 Centerline is valid? [True, True] Translation: X:181.59, Y:-35.48, Z:-21.52 [[ 9.01327160e-01 4.25066813e-01 8.32319347e-02 1.81591572e+02] [-4.23712914e-01 9.05151039e-01 -3.41901193e-02 -3.54763564e+01] [-8.98705571e-02 -4.44996244e-03 9.95943513e-01 -2.15237306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.03629675700003 meters 0.07969028372752827 Centerline is valid? [True, True] Translation: X:181.62, Y:-35.49, Z:-21.53 [[ 9.00141679e-01 4.27941588e-01 8.13077777e-02 1.81620562e+02] [-4.26659473e-01 9.03794649e-01 -3.34204514e-02 -3.54880313e+01] [-8.77875355e-02 -4.60759238e-03 9.96128565e-01 -2.15273754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.06629675700003 meters 0.08051959517485013 Centerline is valid? [True, True] Translation: X:181.65, Y:-35.50, Z:-21.53 [[ 8.99717378e-01 4.29117088e-01 7.97945097e-02 1.81649177e+02] [-4.27885079e-01 9.03237085e-01 -3.28196309e-02 -3.54981702e+01] [-8.61568248e-02 -4.61448777e-03 9.96270901e-01 -2.15314185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.09629675700003 meters 0.08039337918227774 Centerline is valid? [True, True] Translation: X:181.68, Y:-35.51, Z:-21.53 [[ 8.99685726e-01 4.29608207e-01 7.74750456e-02 1.81678054e+02] [-4.28447239e-01 9.03004127e-01 -3.18827609e-02 -3.55129251e+01] [-8.36573816e-02 -4.50950452e-03 9.96484374e-01 -2.15345056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.12629675700003 meters 0.0807930561236577 Centerline is valid? [True, True] Translation: X:181.71, Y:-35.53, Z:-21.54 [[ 8.99919539e-01 4.29318278e-01 7.63586289e-02 1.81706597e+02] [-4.28189508e-01 9.03142461e-01 -3.14235717e-02 -3.55255075e+01] [-8.24534337e-02 -4.41727758e-03 9.96585129e-01 -2.15388433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.15629675700004 meters 0.08011200558273376 Centerline is valid? [True, True] Translation: X:181.73, Y:-35.54, Z:-21.54 [[ 9.00403738e-01 4.28401327e-01 7.57984962e-02 1.81734693e+02] [-4.27283954e-01 9.03578431e-01 -3.12160566e-02 -3.55403736e+01] [-8.18628863e-02 -4.28042711e-03 9.96634409e-01 -2.15416141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.18629675700004 meters 0.07954205532195842 Centerline is valid? [True, True] Translation: X:181.76, Y:-35.56, Z:-21.54 [[ 9.01763917e-01 4.25668074e-01 7.50235209e-02 1.81761202e+02] [-4.24562251e-01 9.04870667e-01 -3.09187805e-02 -3.55576874e+01] [-8.10477211e-02 -3.97071433e-03 9.96702313e-01 -2.15427006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.21629675700004 meters 0.07867797463341666 Centerline is valid? [True, True] Translation: X:181.79, Y:-35.58, Z:-21.55 [[ 9.03584179e-01 4.21763099e-01 7.51765871e-02 1.81788372e+02] [-4.20637836e-01 9.06698872e-01 -3.09994555e-02 -3.55754829e+01] [-8.12369532e-02 -3.61149934e-03 9.96688273e-01 -2.15451865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.24629675700004 meters 0.0782889074719174 Centerline is valid? [True, True] Translation: X:181.82, Y:-35.59, Z:-21.55 [[ 9.04313314e-01 4.20156674e-01 7.54042409e-02 1.81816635e+02] [-4.19017074e-01 9.07444998e-01 -3.11169961e-02 -3.55905703e+01] [-8.14992148e-02 -3.45615056e-03 9.96667413e-01 -2.15479360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.27629675700004 meters 0.07723336869982647 Centerline is valid? [True, True] Translation: X:181.84, Y:-35.61, Z:-21.55 [[ 9.06473602e-01 4.15309629e-01 7.63119903e-02 1.81841629e+02] [-4.14124781e-01 9.09674997e-01 -3.14970672e-02 -3.56099167e+01] [-8.25001449e-02 -3.05142634e-03 9.96586381e-01 -2.15508173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.306296757 meters 0.07696546854837773 Centerline is valid? [True, True] Translation: X:181.87, Y:-35.63, Z:-21.55 [[ 9.07416686e-01 4.13069366e-01 7.72570768e-02 1.81868839e+02] [-4.11845324e-01 9.10695054e-01 -3.19052875e-02 -3.56250999e+01] [-8.35367346e-02 -2.86657556e-03 9.96500575e-01 -2.15544079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.336296757 meters 0.07630053288841333 Centerline is valid? [True, True] Translation: X:181.89, Y:-35.64, Z:-21.56 [[ 9.08603995e-01 4.10521491e-01 7.68822830e-02 1.81894605e+02] [-4.09298700e-01 9.11847208e-01 -3.17685831e-02 -3.56432889e+01] [-8.31465812e-02 -2.60275696e-03 9.96533929e-01 -2.15576536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.36629675700001 meters 0.07526241102040887 Centerline is valid? [True, True] Translation: X:181.92, Y:-35.66, Z:-21.56 [[ 9.08980013e-01 4.09707680e-01 7.67785931e-02 1.81922525e+02] [-4.08484025e-01 9.12213414e-01 -3.17409636e-02 -3.56610593e+01] [-8.30429791e-02 -2.51092726e-03 9.96542803e-01 -2.15581683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.39629675700002 meters 0.07554246016050416 Centerline is valid? [True, True] Translation: X:181.95, Y:-35.67, Z:-21.56 [[ 9.08865111e-01 4.10016930e-01 7.64874264e-02 1.81952398e+02] [-4.08801882e-01 9.12074458e-01 -3.16418129e-02 -3.56724954e+01] [-8.27359070e-02 -2.51006405e-03 9.96568347e-01 -2.15631972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.42629675700002 meters 0.0759641084445897 Centerline is valid? [True, True] Translation: X:181.98, Y:-35.68, Z:-21.57 [[ 9.08049988e-01 4.12105985e-01 7.49258021e-02 1.81980952e+02] [-4.10945022e-01 9.11132148e-01 -3.10225324e-02 -3.56831732e+01] [-8.10518782e-02 -2.62037526e-03 9.96706440e-01 -2.15678084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45629675700002 meters 0.07610995911080932 Centerline is valid? [True, True] Translation: X:182.01, Y:-35.70, Z:-21.57 [[ 9.06359872e-01 4.16054131e-01 7.35577483e-02 1.82009785e+02] [-4.14947681e-01 9.09335183e-01 -3.04622177e-02 -3.56961781e+01] [-7.95625800e-02 -2.91288538e-03 9.96825617e-01 -2.15695821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48629675700002 meters 0.07635187416015592 Centerline is valid? [True, True] Translation: X:182.04, Y:-35.71, Z:-21.57 [[ 9.05670941e-01 4.17829021e-01 7.19656605e-02 1.82039713e+02] [-4.16773978e-01 9.08520781e-01 -2.98235097e-02 -3.57077928e+01] [-7.78434259e-02 -2.98312845e-03 9.96961134e-01 -2.15722035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51629675700002 meters 0.0777290497342107 Centerline is valid? [True, True] Translation: X:182.07, Y:-35.72, Z:-21.58 [[ 9.04051775e-01 4.21782654e-01 6.92082393e-02 1.82069257e+02] [-4.20817595e-01 9.06691378e-01 -2.86931448e-02 -3.57163257e+01] [-7.48527846e-02 -3.18395627e-03 9.97189512e-01 -2.15780307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54629675700002 meters 0.07906151942199377 Centerline is valid? [True, True] Translation: X:182.10, Y:-35.72, Z:-21.58 [[ 9.03672982e-01 4.22834215e-01 6.77227309e-02 1.82099152e+02] [-4.21911609e-01 9.06201470e-01 -2.80978817e-02 -3.57247201e+01] [-7.32511840e-02 -3.18170980e-03 9.97308448e-01 -2.15842708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57629675700002 meters 0.07816943156903594 Centerline is valid? [True, True] Translation: X:182.13, Y:-35.74, Z:-21.58 [[ 9.03403336e-01 4.23599579e-01 6.65267542e-02 1.82127124e+02] [-4.22711096e-01 9.05843953e-01 -2.76054764e-02 -3.57414218e+01] [-7.19565262e-02 -3.18271775e-03 9.97402691e-01 -2.15848978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60629675700002 meters 0.0783249888430362 Centerline is valid? [True, True] Translation: X:182.16, Y:-35.75, Z:-21.59 [[ 9.03329797e-01 4.24053879e-01 6.46033013e-02 1.82156399e+02] [-4.23215984e-01 9.05631625e-01 -2.68251801e-02 -3.57540632e+01] [-6.98821145e-02 -3.10916520e-03 9.97550411e-01 -2.15890966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.63629675700003 meters 0.07753329852664245 Centerline is valid? [True, True] Translation: X:182.18, Y:-35.77, Z:-21.59 [[ 9.04594258e-01 4.21158600e-01 6.58381569e-02 1.82184513e+02] [-4.20279225e-01 9.06982301e-01 -2.73583359e-02 -3.57686007e+01] [-7.12362415e-02 -2.92221604e-03 9.97455191e-01 -2.15932967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.66629675700003 meters 0.07696198188316956 Centerline is valid? [True, True] Translation: X:182.21, Y:-35.78, Z:-21.60 [[ 9.05309144e-01 4.19613089e-01 6.58802675e-02 1.82213308e+02] [-4.18728506e-01 9.07698740e-01 -2.73758262e-02 -3.57832354e+01] [-7.12866908e-02 -2.80236025e-03 9.97451931e-01 -2.15961732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.69629675700003 meters 0.07551983376712389 Centerline is valid? [True, True] Translation: X:182.24, Y:-35.80, Z:-21.60 [[ 9.06468211e-01 4.16884508e-01 6.72509420e-02 1.82240410e+02] [-4.15953584e-01 9.08955683e-01 -2.79675042e-02 -3.58006707e+01] [-7.27873451e-02 -2.62161686e-03 9.97344038e-01 -2.15955553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.72629675700003 meters 0.07515983580660496 Centerline is valid? [True, True] Translation: X:182.27, Y:-35.81, Z:-21.60 [[ 9.07134755e-01 4.15423474e-01 6.73043373e-02 1.82269866e+02] [-4.14485705e-01 9.09624725e-01 -2.80082114e-02 -3.58147517e+01] [-7.28569578e-02 -2.48946377e-03 9.97339293e-01 -2.15978488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.75629675700003 meters 0.07452468688070525 Centerline is valid? [True, True] Translation: X:182.30, Y:-35.83, Z:-21.60 [[ 9.08259349e-01 4.12163994e-01 7.20124833e-02 1.82298298e+02] [-4.11079408e-01 9.11106575e-01 -2.99754904e-02 -3.58275436e+01] [-7.79658649e-02 -2.37732958e-03 9.96953195e-01 -2.15993578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.78629675700003 meters 0.07461266079169851 Centerline is valid? [True, True] Translation: X:182.33, Y:-35.84, Z:-21.60 [[ 9.08491388e-01 4.11426481e-01 7.32915334e-02 1.82326951e+02] [-4.10300302e-01 9.11439914e-01 -3.05113887e-02 -3.58381518e+01] [-7.93540222e-02 -2.35220437e-03 9.96843722e-01 -2.16027914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.81629675700003 meters 0.07369368771369639 Centerline is valid? [True, True] Translation: X:182.36, Y:-35.85, Z:-21.60 [[ 9.09127097e-01 4.09466143e-01 7.63243049e-02 1.82356020e+02] [-4.08235784e-01 9.12322540e-01 -3.17982290e-02 -3.58518497e+01] [-8.26526819e-02 -2.24968085e-03 9.96575874e-01 -2.16031059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.84629675700003 meters 0.07356738685100285 Centerline is valid? [True, True] Translation: X:182.39, Y:-35.86, Z:-21.61 [[ 9.09132688e-01 4.09584924e-01 7.56170949e-02 1.82385654e+02] [-4.08377207e-01 9.12269259e-01 -3.15096329e-02 -3.58637590e+01] [-8.18890216e-02 -2.23386070e-03 9.96638951e-01 -2.16066681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.87629675700003 meters 0.07371506259499605 Centerline is valid? [True, True] Translation: X:182.42, Y:-35.87, Z:-21.61 [[ 9.09006553e-01 4.09925233e-01 7.52887136e-02 1.82416362e+02] [-4.08727447e-01 9.12116388e-01 -3.13937573e-02 -3.58738973e+01] [-8.15411628e-02 -2.23543261e-03 9.96667468e-01 -2.16111018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.90629675700004 meters 0.07324758759566281 Centerline is valid? [True, True] Translation: X:182.45, Y:-35.89, Z:-21.61 [[ 9.09095369e-01 4.09940947e-01 7.41217274e-02 1.82445366e+02] [-4.08778529e-01 9.12109451e-01 -3.09267465e-02 -3.58872476e+01] [-8.02852678e-02 -2.18400871e-03 9.96769535e-01 -2.16121959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.93629675700004 meters 0.07354802021410702 Centerline is valid? [True, True] Translation: X:182.48, Y:-35.90, Z:-21.62 [[ 9.08780269e-01 4.10757811e-01 7.34604915e-02 1.82475967e+02] [-4.09617066e-01 9.11741798e-01 -3.06717021e-02 -3.58973369e+01] [-7.95756419e-02 -2.21683325e-03 9.96826365e-01 -2.16162053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.96629675700004 meters 0.07358903975917194 Centerline is valid? [True, True] Translation: X:182.51, Y:-35.91, Z:-21.62 [[ 9.08678360e-01 4.11057235e-01 7.30451064e-02 1.82506127e+02] [-4.09928685e-01 9.11606856e-01 -3.05190620e-02 -3.59071360e+01] [-7.91335010e-02 -2.21127325e-03 9.96861575e-01 -2.16215983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.99629675700004 meters 0.0738692643770812 Centerline is valid? [True, True] Translation: X:182.54, Y:-35.92, Z:-21.63 [[ 9.07918806e-01 4.12935213e-01 7.18884680e-02 1.82536694e+02] [-4.11846433e-01 9.10757451e-01 -3.00562804e-02 -3.59154056e+01] [-7.78842545e-02 -2.31834690e-03 9.96959712e-01 -2.16263302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.02629675700004 meters 0.0734177403983472 Centerline is valid? [True, True] Translation: X:182.57, Y:-35.93, Z:-21.63 [[ 9.07567861e-01 4.13713029e-01 7.18478039e-02 1.82566266e+02] [-4.12626509e-01 9.10404265e-01 -3.00572530e-02 -3.59284879e+01] [-7.78456243e-02 -2.36731168e-03 9.96962614e-01 -2.16276173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.056296757 meters 0.07430713960982399 Centerline is valid? [True, True] Translation: X:182.60, Y:-35.93, Z:-21.64 [[ 9.07070730e-01 4.15239723e-01 6.92723790e-02 1.82596117e+02] [-4.14232583e-01 9.09708892e-01 -2.90017081e-02 -3.59344482e+01] [-7.50603604e-02 -2.38827594e-03 9.97176132e-01 -2.16354120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.086296757 meters 0.07389626949293293 Centerline is valid? [True, True] Translation: X:182.63, Y:-35.95, Z:-21.64 [[ 9.06736769e-01 4.16033984e-01 6.88778358e-02 1.82625826e+02] [-4.15039553e-01 9.09345826e-01 -2.88502752e-02 -3.59477961e+01] [-7.46364674e-02 -2.42742090e-03 9.97207855e-01 -2.16365334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.11629675700001 meters 0.07390340832196134 Centerline is valid? [True, True] Translation: X:182.65, Y:-35.96, Z:-21.64 [[ 9.06893038e-01 4.16087771e-01 6.64528723e-02 1.82654627e+02] [-4.15160890e-01 9.09321478e-01 -2.78547090e-02 -3.59606328e+01] [-7.20170278e-02 -2.32739199e-03 9.97400687e-01 -2.16410848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.14629675700002 meters 0.07382042415800262 Centerline is valid? [True, True] Translation: X:182.68, Y:-35.97, Z:-21.65 [[ 9.07167949e-01 4.15627605e-01 6.55744362e-02 1.82682584e+02] [-4.14722867e-01 9.09532102e-01 -2.75009102e-02 -3.59727121e+01] [-7.10721922e-02 -2.24727384e-03 9.97468643e-01 -2.16456383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.17629675700002 meters 0.07367377508964554 Centerline is valid? [True, True] Translation: X:182.71, Y:-35.99, Z:-21.65 [[ 9.08015980e-01 4.13663182e-01 6.62552068e-02 1.82710159e+02] [-4.12732980e-01 9.10427575e-01 -2.78050177e-02 -3.59865341e+01] [-7.18224794e-02 -2.09830851e-03 9.97415224e-01 -2.16484393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20629675700002 meters 0.0736772458979719 Centerline is valid? [True, True] Translation: X:182.74, Y:-36.00, Z:-21.65 [[ 9.08443534e-01 4.12653747e-01 6.66875585e-02 1.82739263e+02] [-4.11707513e-01 9.10885731e-01 -2.80019470e-02 -3.59999682e+01] [-7.22998538e-02 -2.01758116e-03 9.97380900e-01 -2.16521462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23629675700002 meters 0.07334500446900832 Centerline is valid? [True, True] Translation: X:182.77, Y:-36.01, Z:-21.66 [[ 9.09440718e-01 4.10098649e-01 6.88235249e-02 1.82766350e+02] [-4.09081630e-01 9.12039294e-01 -2.89231243e-02 -3.60138704e+01] [-7.46310933e-02 -1.85057276e-03 9.97209494e-01 -2.16555412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26629675700002 meters 0.07301162084811566 Centerline is valid? [True, True] Translation: X:182.80, Y:-36.03, Z:-21.66 [[ 9.09546948e-01 4.09677854e-01 6.99171314e-02 1.82795326e+02] [-4.08626423e-01 9.12228412e-01 -2.93899739e-02 -3.60278876e+01] [-7.58208152e-02 -1.83842625e-03 9.97119764e-01 -2.16572107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29629675700002 meters 0.07304171157328085 Centerline is valid? [True, True] Translation: X:182.82, Y:-36.04, Z:-21.66 [[ 9.09029564e-01 4.10455298e-01 7.20534531e-02 1.82824373e+02] [-4.09339251e-01 9.11878654e-01 -3.03100468e-02 -3.60394360e+01] [-7.81449250e-02 -1.94157789e-03 9.96940119e-01 -2.16600197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32629675700002 meters 0.07332769415877585 Centerline is valid? [True, True] Translation: X:182.85, Y:-36.05, Z:-21.66 [[ 9.08435472e-01 4.11658182e-01 7.26810491e-02 1.82854818e+02] [-4.10525041e-01 9.11336025e-01 -3.05914971e-02 -3.60509867e+01] [-7.88300985e-02 -2.04698957e-03 9.96885964e-01 -2.16639094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35629675700002 meters 0.07345454074596362 Centerline is valid? [True, True] Translation: X:182.89, Y:-36.06, Z:-21.67 [[ 9.07769472e-01 4.13003131e-01 7.33689317e-02 1.82885525e+02] [-4.11850935e-01 9.10727036e-01 -3.09042529e-02 -3.60629192e+01] [-7.95826229e-02 -2.16312580e-03 9.96825926e-01 -2.16671114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.38629675700003 meters 0.07345454074596362 Centerline is valid? [True, True] Translation: X:182.92, Y:-36.08, Z:-21.67 [[ 9.07659300e-01 4.13246670e-01 7.33606528e-02 1.82915172e+02] [-4.12093682e-01 9.10616555e-01 -3.09238901e-02 -3.60755209e+01] [-7.95826195e-02 -2.16310507e-03 9.96825926e-01 -2.16707296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.41629675700003 meters 0.07357286944031188 Centerline is valid? [True, True] Translation: X:182.94, Y:-36.09, Z:-21.67 [[ 9.07391820e-01 4.13918959e-01 7.28778493e-02 1.82944700e+02] [-4.12781384e-01 9.10311111e-01 -3.07442671e-02 -3.60878434e+01] [-7.90671510e-02 -2.18552309e-03 9.96866896e-01 -2.16741236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.44629675700003 meters 0.0740670305810913 Centerline is valid? [True, True] Translation: X:182.97, Y:-36.10, Z:-21.68 [[ 9.07144518e-01 4.14351239e-01 7.34974499e-02 1.82974506e+02] [-4.13193935e-01 9.10114339e-01 -3.10268056e-02 -3.60971642e+01] [-7.97470784e-02 -2.22290390e-03 9.96812652e-01 -2.16790932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.47629675700003 meters 0.07404565390716639 Centerline is valid? [True, True] Translation: X:183.00, Y:-36.11, Z:-21.68 [[ 9.07078851e-01 4.14394155e-01 7.40637762e-02 1.83004764e+02] [-4.13217167e-01 9.10094800e-01 -3.12894118e-02 -3.61089024e+01] [-8.03712070e-02 -2.22246008e-03 9.96762524e-01 -2.16824506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.50629675700003 meters 0.07348167491763674 Centerline is valid? [True, True] Translation: X:183.04, Y:-36.12, Z:-21.68 [[ 9.06913667e-01 4.14753008e-01 7.40779592e-02 1.83035079e+02] [-4.13576697e-01 9.09931240e-01 -3.12962222e-02 -3.61221893e+01] [-8.03860516e-02 -2.25394605e-03 9.96761256e-01 -2.16832030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.53629675700003 meters 0.07409537920783255 Centerline is valid? [True, True] Translation: X:183.07, Y:-36.13, Z:-21.69 [[ 9.06758175e-01 4.14986895e-01 7.46691974e-02 1.83065020e+02] [-4.13790358e-01 9.09824560e-01 -3.15723040e-02 -3.61308136e+01] [-8.10379621e-02 -2.26894917e-03 9.96708433e-01 -2.16895476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.56629675700003 meters 0.07447670205577651 Centerline is valid? [True, True] Translation: X:183.09, Y:-36.14, Z:-21.69 [[ 9.06483953e-01 4.15627890e-01 7.44331896e-02 1.83094972e+02] [-4.14439515e-01 9.09531836e-01 -3.14917004e-02 -3.61416502e+01] [-8.07881846e-02 -2.30133397e-03 9.96728636e-01 -2.16940815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.59629675700003 meters 0.07489178735044334 Centerline is valid? [True, True] Translation: X:183.12, Y:-36.15, Z:-21.70 [[ 9.06084089e-01 4.16663714e-01 7.35049238e-02 1.83123685e+02] [-4.15506372e-01 9.09057678e-01 -3.11222189e-02 -3.61516085e+01] [-7.97877147e-02 -2.34241689e-03 9.96809126e-01 -2.16985390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.62629675700003 meters 0.07593061662179929 Centerline is valid? [True, True] Translation: X:183.15, Y:-36.16, Z:-21.70 [[ 9.05366001e-01 4.18725825e-01 7.05768237e-02 1.83153319e+02] [-4.17664785e-01 9.08109485e-01 -2.98879567e-02 -3.61597759e+01] [-7.66063424e-02 -2.41791404e-03 9.97058485e-01 -2.17048477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.65629675700004 meters 0.0761284688154403 Centerline is valid? [True, True] Translation: X:183.18, Y:-36.17, Z:-21.71 [[ 9.05201817e-01 4.19081714e-01 7.05704464e-02 1.83183768e+02] [-4.18020792e-01 9.07945258e-01 -2.99002682e-02 -3.61718827e+01] [-7.66047578e-02 -2.43413676e-03 9.97058567e-01 -2.17092928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.68629675700004 meters 0.07475053259708818 Centerline is valid? [True, True] Translation: X:183.21, Y:-36.19, Z:-21.70 [[ 9.05506856e-01 4.18627142e-01 6.93444296e-02 1.83211073e+02] [-4.17599939e-01 9.08155197e-01 -2.94011665e-02 -3.61914037e+01] [-7.52836305e-02 -2.33527173e-03 9.97159426e-01 -2.17048627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.71629675700004 meters 0.07483078092683505 Centerline is valid? [True, True] Translation: X:183.24, Y:-36.20, Z:-21.71 [[ 9.05866060e-01 4.17838830e-01 6.94074423e-02 1.83239992e+02] [-4.16805912e-01 9.08518373e-01 -2.94482066e-02 -3.62039618e+01] [-7.53625408e-02 -2.25330143e-03 9.97153654e-01 -2.17094985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.74629675700004 meters 0.07483039571885947 Centerline is valid? [True, True] Translation: X:183.27, Y:-36.22, Z:-21.71 [[ 9.06491306e-01 4.16441802e-01 6.96400623e-02 1.83268368e+02] [-4.15396235e-01 9.09159892e-01 -2.95678672e-02 -3.62168257e+01] [-7.56272474e-02 -2.12520507e-03 9.97133894e-01 -2.17130774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.77629675700004 meters 0.07453745044432153 Centerline is valid? [True, True] Translation: X:183.30, Y:-36.23, Z:-21.72 [[ 9.06914671e-01 4.15410646e-01 7.02835283e-02 1.83297197e+02] [-4.14341135e-01 9.09631699e-01 -2.98595917e-02 -3.62309573e+01] [-7.63361176e-02 -2.04125510e-03 9.97080052e-01 -2.17162378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.806296757 meters 0.0740651777794988 Centerline is valid? [True, True] Translation: X:183.32, Y:-36.24, Z:-21.72 [[ 9.07493465e-01 4.13838071e-01 7.20670611e-02 1.83324501e+02] [-4.12706783e-01 9.10348449e-01 -3.06400325e-02 -3.62443386e+01] [-7.82861493e-02 -1.93693571e-03 9.96929048e-01 -2.17204351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.836296757 meters 0.07372849754776473 Centerline is valid? [True, True] Translation: X:183.35, Y:-36.26, Z:-21.72 [[ 9.07812562e-01 4.12577731e-01 7.52061750e-02 1.83351270e+02] [-4.11339410e-01 9.10920443e-01 -3.19974471e-02 -3.62585080e+01] [-8.17082764e-02 -1.88757929e-03 9.96654501e-01 -2.17246623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.86629675700001 meters 0.07347089320096925 Centerline is valid? [True, True] Translation: X:183.38, Y:-36.27, Z:-21.73 [[ 9.07684682e-01 4.12618940e-01 7.65122806e-02 1.83380015e+02] [-4.11336870e-01 9.10901710e-01 -3.25584613e-02 -3.62724472e+01] [-8.31294050e-02 -1.91950549e-03 9.96536912e-01 -2.17278954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.89629675700002 meters 0.0732646438728686 Centerline is valid? [True, True] Translation: X:183.41, Y:-36.29, Z:-21.73 [[ 9.06878754e-01 4.13980628e-01 7.86826861e-02 1.83408596e+02] [-4.12627811e-01 9.10283311e-01 -3.35049686e-02 -3.62862143e+01] [-8.54939439e-02 -2.08172042e-03 9.96336515e-01 -2.17307306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.92629675700002 meters 0.07311929863992708 Centerline is valid? [True, True] Translation: X:183.44, Y:-36.30, Z:-21.74 [[ 9.06606145e-01 4.14395459e-01 7.96347953e-02 1.83437460e+02] [-4.13009293e-01 9.10094436e-01 -3.39328929e-02 -3.62987423e+01] [-8.65368209e-02 -2.12614121e-03 9.96246384e-01 -2.17350443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95629675700002 meters 0.07361117251208046 Centerline is valid? [True, True] Translation: X:183.47, Y:-36.31, Z:-21.74 [[ 9.05378050e-01 4.16796456e-01 8.10635624e-02 1.83466303e+02] [-4.15367331e-01 9.08996741e-01 -3.45673975e-02 -3.63093431e+01] [-8.80940829e-02 -2.37459261e-03 9.96109328e-01 -2.17395913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98629675700002 meters 0.0738428854575887 Centerline is valid? [True, True] Translation: X:183.50, Y:-36.32, Z:-21.74 [[ 9.04551364e-01 4.18316639e-01 8.24500975e-02 1.83496526e+02] [-4.16843571e-01 9.08297665e-01 -3.51680136e-02 -3.63220503e+01] [-8.96005963e-02 -2.55751837e-03 9.95974494e-01 -2.17431608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01629675700002 meters 0.07418799711092278 Centerline is valid? [True, True] Translation: X:183.53, Y:-36.33, Z:-21.75 [[ 9.03650516e-01 4.20333688e-01 8.20690936e-02 1.83525289e+02] [-4.18880097e-01 9.07365523e-01 -3.50324393e-02 -3.63325747e+01] [-8.91919805e-02 -2.72002809e-03 9.96010739e-01 -2.17469680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04629675700002 meters 0.07436340405864078 Centerline is valid? [True, True] Translation: X:183.55, Y:-36.34, Z:-21.75 [[ 9.03403669e-01 4.20995140e-01 8.13935102e-02 1.83554670e+02] [-4.19566317e-01 9.07058743e-01 -3.47641094e-02 -3.63449306e+01] [-8.84642162e-02 -2.74395134e-03 9.96075576e-01 -2.17511666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07629675700002 meters 0.07453906327515314 Centerline is valid? [True, True] Translation: X:183.58, Y:-36.36, Z:-21.76 [[ 9.03572979e-01 4.20836125e-01 8.03294949e-02 1.83583809e+02] [-4.19441962e-01 9.07132742e-01 -3.43311589e-02 -3.63581530e+01] [-8.73173068e-02 -2.67285346e-03 9.96176964e-01 -2.17555547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10629675700002 meters 0.07434487857014631 Centerline is valid? [True, True] Translation: X:183.61, Y:-36.37, Z:-21.76 [[ 9.04632987e-01 4.18914208e-01 7.84222204e-02 1.83610667e+02] [-4.17576562e-01 9.08022624e-01 -3.35369903e-02 -3.63738799e+01] [-8.52582721e-02 -2.40861355e-03 9.96355973e-01 -2.17619372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.13629675700003 meters 0.07422012359825395 Centerline is valid? [True, True] Translation: X:183.64, Y:-36.39, Z:-21.77 [[ 9.05454206e-01 4.17274089e-01 7.76853617e-02 1.83638753e+02] [-4.15953889e-01 9.08777985e-01 -3.32405899e-02 -3.63891299e+01] [-8.44691833e-02 -2.21569634e-03 9.96423629e-01 -2.17658070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.16629675700003 meters 0.07270162929237575 Centerline is valid? [True, True] Translation: X:183.66, Y:-36.41, Z:-21.76 [[ 9.07914283e-01 4.12167867e-01 7.62187837e-02 1.83663752e+02] [-4.10877524e-01 9.11106358e-01 -3.26322740e-02 -3.64129053e+01] [-8.28933932e-02 -1.68927748e-03 9.96556989e-01 -2.17625746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.19629675700003 meters 0.07254048484372556 Centerline is valid? [True, True] Translation: X:183.69, Y:-36.43, Z:-21.77 [[ 9.10294959e-01 4.07111649e-01 7.49879511e-02 1.83689694e+02] [-4.05843774e-01 9.13377629e-01 -3.21269058e-02 -3.64301641e+01] [-8.15715545e-02 -1.18843271e-03 9.96666779e-01 -2.17654328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.22629675700003 meters 0.07238058095392028 Centerline is valid? [True, True] Translation: X:183.72, Y:-36.45, Z:-21.77 [[ 9.11269409e-01 4.04915824e-01 7.50415845e-02 1.83718224e+02] [-4.03637081e-01 9.14353447e-01 -3.21695640e-02 -3.64455226e+01] [-8.16404970e-02 -9.74426510e-04 9.96661367e-01 -2.17688338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.25629675700003 meters 0.07234192836663383 Centerline is valid? [True, True] Translation: X:183.75, Y:-36.46, Z:-21.77 [[ 9.12224148e-01 4.02666516e-01 7.55432382e-02 1.83745380e+02] [-4.01361037e-01 9.15346439e-01 -3.24070196e-02 -3.64597266e+01] [-8.21974557e-02 -7.57646562e-04 9.96615776e-01 -2.17733643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.28629675700003 meters 0.07226696053090223 Centerline is valid? [True, True] Translation: X:183.77, Y:-36.48, Z:-21.78 [[ 9.13729868e-01 3.99148392e-01 7.60150659e-02 1.83772766e+02] [-3.97812719e-01 9.16886242e-01 -3.26291396e-02 -3.64762648e+01] [-8.27210367e-02 -4.25540609e-04 9.96572651e-01 -2.17764709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.31629675700003 meters 0.07254169665033224 Centerline is valid? [True, True] Translation: X:183.80, Y:-36.49, Z:-21.78 [[ 9.14204826e-01 3.98082108e-01 7.58957964e-02 1.83801190e+02] [-3.96745021e-01 9.17349738e-01 -3.26013368e-02 -3.64904471e+01] [-8.26009978e-02 -3.06979943e-04 9.96582651e-01 -2.17835429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.34629675700003 meters 0.07232859091985958 Centerline is valid? [True, True] Translation: X:183.83, Y:-36.51, Z:-21.78 [[ 9.14648084e-01 3.97038803e-01 7.60201967e-02 1.83830992e+02] [-3.95692735e-01 9.17801802e-01 -3.26666799e-02 -3.65063044e+01] [-8.27414130e-02 -2.02123281e-04 9.96571030e-01 -2.17824523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.37629675700003 meters 0.0724874874343291 Centerline is valid? [True, True] Translation: X:183.86, Y:-36.52, Z:-21.79 [[ 9.14455161e-01 3.97352736e-01 7.66978586e-02 1.83859265e+02] [-3.95981174e-01 9.17665931e-01 -3.29871018e-02 -3.65188013e+01] [-8.34905269e-02 -2.05682625e-04 9.96508550e-01 -2.17863106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.40629675700004 meters 0.07276938186923672 Centerline is valid? [True, True] Translation: X:183.89, Y:-36.53, Z:-21.79 [[ 9.13908497e-01 3.98636565e-01 7.65516030e-02 1.83888566e+02] [-3.97273789e-01 9.17108931e-01 -3.29354681e-02 -3.65303437e+01] [-8.33354407e-02 -3.11941181e-04 9.96521504e-01 -2.17902507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.43629675700004 meters 0.07284349816094933 Centerline is valid? [True, True] Translation: X:183.92, Y:-36.54, Z:-21.79 [[ 9.13389546e-01 3.99943845e-01 7.59240309e-02 1.83917974e+02] [-3.98606802e-01 9.16539551e-01 -3.26782743e-02 -3.65434424e+01] [-8.26568519e-02 -4.15840975e-04 9.96577981e-01 -2.17942700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.46629675700004 meters 0.07324166512142856 Centerline is valid? [True, True] Translation: X:183.95, Y:-36.56, Z:-21.80 [[ 9.12573360e-01 4.02136789e-01 7.41341133e-02 1.83947202e+02] [-4.00867738e-01 9.15579415e-01 -3.19279113e-02 -3.65559799e+01] [-8.07150558e-02 -5.81412952e-04 9.96737047e-01 -2.17983021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.49629675700004 meters 0.0733625134429745 Centerline is valid? [True, True] Translation: X:183.98, Y:-36.57, Z:-21.80 [[ 9.12342704e-01 4.02839012e-01 7.31540835e-02 1.83976192e+02] [-4.01603984e-01 9.15270643e-01 -3.15260179e-02 -3.65685659e+01] [-7.96556950e-02 -6.16438959e-04 9.96822246e-01 -2.18035255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.52629675700004 meters 0.07355338092438651 Centerline is valid? [True, True] Translation: X:184.00, Y:-36.58, Z:-21.81 [[ 9.11765587e-01 4.04282903e-01 7.23798889e-02 1.84004936e+02] [-4.03076858e-01 9.14633709e-01 -3.12125692e-02 -3.65815531e+01] [-7.88197943e-02 -7.16111715e-04 9.96888623e-01 -2.18089267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.556296757 meters 0.07365109517656225 Centerline is valid? [True, True] Translation: X:184.03, Y:-36.59, Z:-21.81 [[ 9.11491808e-01 4.04957124e-01 7.20583888e-02 1.84033928e+02] [-4.03762299e-01 9.14335366e-01 -3.10941238e-02 -3.65944202e+01] [-7.84773203e-02 -7.52421576e-04 9.96915615e-01 -2.18137456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.586296757 meters 0.07364166540711652 Centerline is valid? [True, True] Translation: X:184.06, Y:-36.61, Z:-21.82 [[ 9.11626770e-01 4.04678756e-01 7.19147914e-02 1.84063296e+02] [-4.03486348e-01 9.14458638e-01 -3.10510274e-02 -3.66080209e+01] [-7.83287933e-02 -7.09688745e-04 9.96927328e-01 -2.18182756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.61629675700001 meters 0.07354484134379972 Centerline is valid? [True, True] Translation: X:184.09, Y:-36.62, Z:-21.82 [[ 9.11984722e-01 4.03795343e-01 7.23407780e-02 1.84090293e+02] [-4.02583756e-01 9.14849139e-01 -3.12629640e-02 -3.66228461e+01] [-7.88047377e-02 -6.11876567e-04 9.96889883e-01 -2.18220959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.64629675700002 meters 0.07361778496843709 Centerline is valid? [True, True] Translation: X:184.12, Y:-36.64, Z:-21.82 [[ 9.12312651e-01 4.03165547e-01 7.17158807e-02 1.84117779e+02] [-4.01972235e-01 9.15126901e-01 -3.10012510e-02 -3.66370678e+01] [-7.81277680e-02 -5.44959364e-04 9.96943205e-01 -2.18242469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.67629675700002 meters 0.0733878323353622 Centerline is valid? [True, True] Translation: X:184.15, Y:-36.65, Z:-21.83 [[ 9.13206374e-01 4.01046013e-01 7.22233686e-02 1.84145547e+02] [-3.99827680e-01 9.16057844e-01 -3.12386399e-02 -3.66530470e+01] [-7.86889153e-02 -3.49576859e-04 9.96899159e-01 -2.18286035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70629675700002 meters 0.07304003195287538 Centerline is valid? [True, True] Translation: X:184.17, Y:-36.67, Z:-21.83 [[ 9.14253893e-01 3.98341141e-01 7.39199187e-02 1.84173042e+02] [-3.97054288e-01 9.17237333e-01 -3.19932334e-02 -3.66682619e+01] [-8.05463302e-02 -1.00282496e-04 9.96750861e-01 -2.18332637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73629675700002 meters 0.07302324434268967 Centerline is valid? [True, True] Translation: X:184.20, Y:-36.68, Z:-21.84 [[ 9.14705875e-01 3.97276398e-01 7.40582631e-02 1.84202989e+02] [-3.95979694e-01 9.17699005e-01 -3.20720834e-02 -3.66829822e+01] [-8.07046762e-02 1.09547869e-05 9.96738057e-01 -2.18352795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76629675700002 meters 0.07298554489667759 Centerline is valid? [True, True] Translation: X:184.23, Y:-36.70, Z:-21.84 [[ 9.15100250e-01 3.96235612e-01 7.47587550e-02 1.84230180e+02] [-3.94908671e-01 9.18148857e-01 -3.24008916e-02 -3.66964053e+01] [-8.14780525e-02 1.27183448e-04 9.96675128e-01 -2.18398561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79629675700002 meters 0.07290841370063869 Centerline is valid? [True, True] Translation: X:184.26, Y:-36.71, Z:-21.84 [[ 9.15586156e-01 3.94793146e-01 7.64222702e-02 1.84258188e+02] [-3.93399760e-01 9.18769990e-01 -3.31411331e-02 -3.67116085e+01] [-8.32983806e-02 2.79059896e-04 9.96524612e-01 -2.18409148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82629675700002 meters 0.07290243527931797 Centerline is valid? [True, True] Translation: X:184.29, Y:-36.73, Z:-21.84 [[ 9.15574504e-01 3.94952642e-01 7.57346601e-02 1.84287520e+02] [-3.93583158e-01 9.18701438e-01 -3.28628368e-02 -3.67250788e+01] [-8.25568053e-02 2.80488842e-04 9.96586321e-01 -2.18432898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85629675700002 meters 0.07287327165805704 Centerline is valid? [True, True] Translation: X:184.32, Y:-36.74, Z:-21.85 [[ 9.15209656e-01 3.95575652e-01 7.68842503e-02 1.84317626e+02] [-3.94164630e-01 9.18433363e-01 -3.33826695e-02 -3.67366876e+01] [-8.38184319e-02 2.47089477e-04 9.96481013e-01 -2.18461445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.88629675700003 meters 0.07278239094211753 Centerline is valid? [True, True] Translation: X:184.35, Y:-36.75, Z:-21.85 [[ 9.14874415e-01 3.96340656e-01 7.69343183e-02 1.84348765e+02] [-3.94928838e-01 9.18103505e-01 -3.34240464e-02 -3.67484081e+01] [-8.38809758e-02 1.95223946e-04 9.96475762e-01 -2.18479930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.91629675700003 meters 0.0730522245380576 Centerline is valid? [True, True] Translation: X:184.38, Y:-36.76, Z:-21.85 [[ 9.14031741e-01 3.98598700e-01 7.52665428e-02 1.84378642e+02] [-3.97253087e-01 9.17125442e-01 -3.27247364e-02 -3.67571639e+01] [-8.20728987e-02 1.15813166e-05 9.96626329e-01 -2.18541735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.94629675700003 meters 0.0732668622054004 Centerline is valid? [True, True] Translation: X:184.41, Y:-36.77, Z:-21.86 [[ 9.13625639e-01 3.99813895e-01 7.37362924e-02 1.84407849e+02] [-3.98524970e-01 9.16596336e-01 -3.20781058e-02 -3.67681600e+01] [-8.04116879e-02 -7.83738340e-05 9.96761734e-01 -2.18591053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.97629675700003 meters 0.07398063642291254 Centerline is valid? [True, True] Translation: X:184.44, Y:-36.78, Z:-21.87 [[ 9.12460504e-01 4.02891126e-01 7.13762473e-02 1.84436962e+02] [-4.01691511e-01 9.15247856e-01 -3.10691586e-02 -3.67771520e+01] [-7.78444456e-02 -3.21852565e-04 9.96965465e-01 -2.18686000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.00629675700003 meters 0.07390666393017062 Centerline is valid? [True, True] Translation: X:184.47, Y:-36.79, Z:-21.87 [[ 9.11737730e-01 4.04718207e-01 7.02672364e-02 1.84466330e+02] [-4.03559691e-01 9.14441341e-01 -3.06040767e-02 -3.67889720e+01] [-7.66412929e-02 -4.54132753e-04 9.97058627e-01 -2.18692769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.03629675700003 meters 0.07424281714821174 Centerline is valid? [True, True] Translation: X:184.50, Y:-36.80, Z:-21.87 [[ 9.10583851e-01 4.07477004e-01 6.92787157e-02 1.84496707e+02] [-4.06357570e-01 9.13215229e-01 -3.01905771e-02 -3.67998296e+01] [-7.55683441e-02 -6.60878652e-04 9.97140406e-01 -2.18735480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.06629675700003 meters 0.07421449995592357 Centerline is valid? [True, True] Translation: X:184.53, Y:-36.81, Z:-21.88 [[ 9.10114919e-01 4.08444990e-01 6.97389680e-02 1.84526317e+02] [-4.07311946e-01 9.12782646e-01 -3.04108324e-02 -3.68119217e+01] [-7.60776719e-02 -7.28162540e-04 9.97101629e-01 -2.18774246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.09629675700003 meters 0.0741868157076725 Centerline is valid? [True, True] Translation: X:184.56, Y:-36.82, Z:-21.88 [[ 9.08992468e-01 4.10696312e-01 7.11423406e-02 1.84555794e+02] [-4.09522385e-01 9.11771737e-01 -3.10437624e-02 -3.68218399e+01] [-7.76151342e-02 -9.15834833e-04 9.96982975e-01 -2.18803251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.12629675700003 meters 0.07404939209910352 Centerline is valid? [True, True] Translation: X:184.59, Y:-36.84, Z:-21.88 [[ 9.08486495e-01 4.11787870e-01 7.12954395e-02 1.84585662e+02] [-4.10610972e-01 9.11279187e-01 -3.11267165e-02 -3.68352190e+01] [-7.77876545e-02 -9.96488130e-04 9.96969452e-01 -2.18814323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.15629675700004 meters 0.07378685914582082 Centerline is valid? [True, True] Translation: X:184.62, Y:-36.85, Z:-21.88 [[ 9.07485061e-01 4.13645502e-01 7.32684266e-02 1.84615526e+02] [-4.12406104e-01 9.10437286e-01 -3.20180147e-02 -3.68480854e+01] [-7.99504152e-02 -1.16047630e-03 9.96798166e-01 -2.18843336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.18629675700004 meters 0.07410920443526925 Centerline is valid? [True, True] Translation: X:184.65, Y:-36.86, Z:-21.89 [[ 9.07122391e-01 4.14410963e-01 7.34337899e-02 1.84645118e+02] [-4.13167872e-01 9.10089037e-01 -3.20975757e-02 -3.68590473e+01] [-8.01328744e-02 -1.22405307e-03 9.96783439e-01 -2.18930435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.21629675700004 meters 0.07377856891716472 Centerline is valid? [True, True] Translation: X:184.67, Y:-36.87, Z:-21.89 [[ 9.06950007e-01 4.14688688e-01 7.39930832e-02 1.84673620e+02] [-4.13425541e-01 9.09962507e-01 -3.23660025e-02 -3.68733135e+01] [-8.07527466e-02 -1.23628424e-03 9.96733397e-01 -2.18934561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.24629675700004 meters 0.07349472298840112 Centerline is valid? [True, True] Translation: X:184.70, Y:-36.89, Z:-21.90 [[ 9.06750362e-01 4.15001358e-01 7.46836963e-02 1.84701969e+02] [-4.13713830e-01 9.09819924e-01 -3.26890505e-02 -3.68887703e+01] [-8.15147152e-02 -1.25686966e-03 9.96671346e-01 -2.18956939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.27629675700004 meters 0.07349472298840112 Centerline is valid? [True, True] Translation: X:184.73, Y:-36.90, Z:-21.90 [[ 9.06634418e-01 4.15255951e-01 7.46761426e-02 1.84731412e+02] [-4.13967865e-01 9.09703746e-01 -3.27062955e-02 -3.69017756e+01] [-8.15146505e-02 -1.26087012e-03 9.96671346e-01 -2.18993089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.306296757 meters 0.07366511413002913 Centerline is valid? [True, True] Translation: X:184.76, Y:-36.92, Z:-21.90 [[ 9.06397207e-01 4.15826123e-01 7.43823808e-02 1.84758802e+02] [-4.14547922e-01 9.09443231e-01 -3.26041396e-02 -3.69150817e+01] [-8.12042057e-02 -1.28276035e-03 9.96696660e-01 -2.19029734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.336296757 meters 0.07373271900470382 Centerline is valid? [True, True] Translation: X:184.79, Y:-36.93, Z:-21.91 [[ 9.06172366e-01 4.16269967e-01 7.46388494e-02 1.84788183e+02] [-4.14982910e-01 9.09240121e-01 -3.27350926e-02 -3.69284120e+01] [-8.14912724e-02 -1.31021063e-03 9.96673194e-01 -2.19073864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.36629675700001 meters 0.07378326431698841 Centerline is valid? [True, True] Translation: X:184.82, Y:-36.94, Z:-21.91 [[ 9.05869783e-01 4.16917739e-01 7.46962891e-02 1.84817780e+02] [-4.15628876e-01 9.08943224e-01 -3.27849524e-02 -3.69417060e+01] [-8.15633140e-02 -1.34703694e-03 9.96667252e-01 -2.19121609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.39629675700002 meters 0.07397259344812329 Centerline is valid? [True, True] Translation: X:184.85, Y:-36.96, Z:-21.91 [[ 9.05458560e-01 4.17870608e-01 7.43569189e-02 1.84847036e+02] [-4.16594574e-01 9.08505469e-01 -3.26615118e-02 -3.69552965e+01] [-8.12019532e-02 -1.40304351e-03 9.96696681e-01 -2.19149356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.42629675700002 meters 0.07417654614742228 Centerline is valid? [True, True] Translation: X:184.88, Y:-36.97, Z:-21.92 [[ 9.04552499e-01 4.19889241e-01 7.40121749e-02 1.84876526e+02] [-4.18630034e-01 9.07574019e-01 -3.25314415e-02 -3.69679138e+01] [-8.08311293e-02 -1.55732259e-03 9.96726594e-01 -2.19179868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45629675700002 meters 0.07438516820413082 Centerline is valid? [True, True] Translation: X:184.91, Y:-36.98, Z:-21.92 [[ 9.04087238e-01 4.20938953e-01 7.37337415e-02 1.84906157e+02] [-4.19690982e-01 9.07087512e-01 -3.24303005e-02 -3.69796846e+01] [-8.05341329e-02 -1.62556553e-03 9.96750526e-01 -2.19217122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48629675700002 meters 0.07462111691826076 Centerline is valid? [True, True] Translation: X:184.94, Y:-36.99, Z:-21.93 [[ 9.03577921e-01 4.22014199e-01 7.38305869e-02 1.84935928e+02] [-4.20764785e-01 9.06587619e-01 -3.24943649e-02 -3.69909548e+01] [-8.06469794e-02 -1.70412034e-03 9.96741271e-01 -2.19257869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51629675700002 meters 0.07509915300648454 Centerline is valid? [True, True] Translation: X:184.97, Y:-37.00, Z:-21.93 [[ 9.02446541e-01 4.24660620e-01 7.24817082e-02 1.84966330e+02] [-4.23462955e-01 9.05350661e-01 -3.19265868e-02 -3.70005437e+01] [-7.91793265e-02 -1.88128048e-03 9.96858613e-01 -2.19303138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54629675700002 meters 0.07552637480652273 Centerline is valid? [True, True] Translation: X:185.00, Y:-37.01, Z:-21.93 [[ 9.01804589e-01 4.25974287e-01 7.27625593e-02 1.84995285e+02] [-4.24771350e-01 9.04733054e-01 -3.20530896e-02 -3.70116315e+01] [-7.94844845e-02 -2.00182721e-03 9.96834093e-01 -2.19345880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57629675700002 meters 0.07567945966993334 Centerline is valid? [True, True] Translation: X:185.03, Y:-37.02, Z:-21.94 [[ 9.01206043e-01 4.27401442e-01 7.18030303e-02 1.85025206e+02] [-4.26233138e-01 9.04059549e-01 -3.16487421e-02 -3.70233652e+01] [-7.84409333e-02 -2.08279329e-03 9.96916587e-01 -2.19382555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60629675700002 meters 0.07592999687242911 Centerline is valid? [True, True] Translation: X:185.05, Y:-37.03, Z:-21.94 [[ 9.00679242e-01 4.28679063e-01 7.07895813e-02 1.85054777e+02] [-4.27545910e-01 9.03454295e-01 -3.12223095e-02 -3.70343777e+01] [-7.73395016e-02 -2.14450993e-03 9.97002509e-01 -2.19425777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.63629675700003 meters 0.0760928267186462 Centerline is valid? [True, True] Translation: X:185.08, Y:-37.05, Z:-21.95 [[ 9.00392572e-01 4.29375956e-01 7.02104233e-02 1.85083840e+02] [-4.28261844e-01 9.03123241e-01 -3.09871640e-02 -3.70473691e+01] [-7.67138083e-02 -2.16783305e-03 9.97050797e-01 -2.19455314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.66629675700003 meters 0.07626106185498545 Centerline is valid? [True, True] Translation: X:185.11, Y:-37.06, Z:-21.95 [[ 9.00256188e-01 4.29751599e-01 6.96588812e-02 1.85112877e+02] [-4.28654452e-01 9.02944563e-01 -3.07648793e-02 -3.70584457e+01] [-7.61193641e-02 -2.16331653e-03 9.97096366e-01 -2.19502468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.69629675700003 meters 0.07689491288862232 Centerline is valid? [True, True] Translation: X:185.14, Y:-37.07, Z:-21.96 [[ 8.99860612e-01 4.30382403e-01 7.08651276e-02 1.85142716e+02] [-4.29247340e-01 9.02643883e-01 -3.13168090e-02 -3.70675310e+01] [-7.74441775e-02 -2.23790461e-03 9.96994178e-01 -2.19566881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.72629675700003 meters 0.07649062445114403 Centerline is valid? [True, True] Translation: X:185.17, Y:-37.08, Z:-21.96 [[ 8.99465492e-01 4.31175937e-01 7.10572940e-02 1.85172038e+02] [-4.30035656e-01 9.02264952e-01 -3.14211804e-02 -3.70820076e+01] [-7.76605629e-02 -2.29490248e-03 9.96977217e-01 -2.19574277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.75629675700003 meters 0.07657558421393504 Centerline is valid? [True, True] Translation: X:185.20, Y:-37.09, Z:-21.96 [[ 8.98674179e-01 4.32661285e-01 7.20342413e-02 1.85202889e+02] [-4.31492196e-01 9.01553263e-01 -3.18778725e-02 -3.70936324e+01] [-7.87350266e-02 -2.43439204e-03 9.96892607e-01 -2.19598283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.78629675700003 meters 0.07716935438434225 Centerline is valid? [True, True] Translation: X:185.23, Y:-37.10, Z:-21.97 [[ 8.98411666e-01 4.33237748e-01 7.18438097e-02 1.85232592e+02] [-4.32074387e-01 9.01276340e-01 -3.18226753e-02 -3.71034461e+01] [-7.85379101e-02 -2.45200729e-03 9.96908112e-01 -2.19653655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.81629675700003 meters 0.07704236831317979 Centerline is valid? [True, True] Translation: X:185.26, Y:-37.12, Z:-21.97 [[ 8.97375830e-01 4.35095903e-01 7.35402913e-02 1.85263537e+02] [-4.33882512e-01 9.00380156e-01 -3.25812897e-02 -3.71154291e+01] [-8.03902047e-02 -2.67018440e-03 9.96759893e-01 -2.19672967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.84629675700003 meters 0.07683926573358668 Centerline is valid? [True, True] Translation: X:185.29, Y:-37.13, Z:-21.97 [[ 8.96744639e-01 4.36541879e-01 7.26652613e-02 1.85293098e+02] [-4.35359985e-01 8.99679754e-01 -3.22183869e-02 -3.71284247e+01] [-7.94401396e-02 -2.74388127e-03 9.96835862e-01 -2.19691618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.87629675700003 meters 0.07706056027765634 Centerline is valid? [True, True] Translation: X:185.32, Y:-37.14, Z:-21.97 [[ 8.96311129e-01 4.37558801e-01 7.18933655e-02 1.85321945e+02] [-4.36403557e-01 8.99185486e-01 -3.18966670e-02 -3.71399595e+01] [-7.86021382e-02 -2.78518280e-03 9.96902175e-01 -2.19729251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.90629675700004 meters 0.07675501861645845 Centerline is valid? [True, True] Translation: X:185.35, Y:-37.15, Z:-21.98 [[ 8.96144642e-01 4.37833480e-01 7.22953934e-02 1.85350980e+02] [-4.36664636e-01 8.99051700e-01 -3.20941654e-02 -3.71538859e+01] [-7.90491965e-02 -2.80782729e-03 9.96866762e-01 -2.19751819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.93629675700004 meters 0.07720188309038811 Centerline is valid? [True, True] Translation: X:185.38, Y:-37.16, Z:-21.98 [[ 8.95444182e-01 4.39286552e-01 7.21598360e-02 1.85380260e+02] [-4.38125077e-01 8.98342280e-01 -3.20556639e-02 -3.71632553e+01] [-7.89058536e-02 -2.91097596e-03 9.96877822e-01 -2.19794239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.96629675700004 meters 0.07880473698067614 Centerline is valid? [True, True] Translation: X:185.41, Y:-37.17, Z:-21.99 [[ 8.94528246e-01 4.41383642e-01 7.07085345e-02 1.85411351e+02] [-4.40272947e-01 8.97313448e-01 -3.14373741e-02 -3.71689426e+01] [-7.73236616e-02 -3.00943573e-03 9.97001502e-01 -2.19867772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.99629675700004 meters 0.07835586206952866 Centerline is valid? [True, True] Translation: X:185.44, Y:-37.18, Z:-21.99 [[ 8.93735049e-01 4.42852622e-01 7.15487057e-02 1.85440252e+02] [-4.41719876e-01 8.96588809e-01 -3.18128674e-02 -3.71820331e+01] [-7.82381806e-02 -3.17221084e-03 9.96929649e-01 -2.19889661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.02629675700004 meters 0.07853772221793616 Centerline is valid? [True, True] Translation: X:185.47, Y:-37.19, Z:-21.99 [[ 8.93180783e-01 4.44262808e-01 6.97039958e-02 1.85470023e+02] [-4.43190254e-01 8.95890835e-01 -3.10162964e-02 -3.71932359e+01] [-7.62265579e-02 -3.18897176e-03 9.97085424e-01 -2.19928340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.056296757 meters 0.07902521898131017 Centerline is valid? [True, True] Translation: X:185.50, Y:-37.20, Z:-22.00 [[ 8.92656960e-01 4.45214728e-01 7.03377489e-02 1.85499949e+02] [-4.44124264e-01 8.95417808e-01 -3.13143455e-02 -3.72048086e+01] [-7.69232808e-02 -3.28573252e-03 9.97031601e-01 -2.19969651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.086296757 meters 0.07850861483559969 Centerline is valid? [True, True] Translation: X:185.53, Y:-37.22, Z:-22.00 [[ 8.92919389e-01 4.44656775e-01 7.05359289e-02 1.85527650e+02] [-4.43558235e-01 8.95695163e-01 -3.14048947e-02 -3.72183213e+01] [-7.71430895e-02 -3.24475272e-03 9.97014752e-01 -2.19985191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.11629675700001 meters 0.07821940961738351 Centerline is valid? [True, True] Translation: X:185.56, Y:-37.23, Z:-22.00 [[ 8.93146260e-01 4.44113733e-01 7.10827027e-02 1.85556593e+02] [-4.42994812e-01 8.95964687e-01 -3.16682170e-02 -3.72322484e+01] [-7.77518816e-02 -3.20491901e-03 9.96967589e-01 -2.20013217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.14629675700002 meters 0.07769786334319893 Centerline is valid? [True, True] Translation: X:185.59, Y:-37.25, Z:-22.00 [[ 8.93180821e-01 4.43918433e-01 7.18640790e-02 1.85586040e+02] [-4.42772428e-01 8.96061471e-01 -3.20377536e-02 -3.72457481e+01] [-7.86167817e-02 -3.20392569e-03 9.96899763e-01 -2.20028199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.17629675700002 meters 0.07762479766896987 Centerline is valid? [True, True] Translation: X:185.62, Y:-37.26, Z:-22.01 [[ 8.93316358e-01 4.43554274e-01 7.24257527e-02 1.85615569e+02] [-4.42387335e-01 8.96241882e-01 -3.23099736e-02 -3.72580992e+01] [-7.92422198e-02 -3.17720780e-03 9.96850328e-01 -2.20063359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20629675700002 meters 0.07733849016373061 Centerline is valid? [True, True] Translation: X:185.65, Y:-37.27, Z:-22.01 [[ 8.93724590e-01 4.42663877e-01 7.28357670e-02 1.85645037e+02] [-4.41478980e-01 8.96682277e-01 -3.25146945e-02 -3.72696196e+01] [-7.97036221e-02 -3.09627804e-03 9.96813797e-01 -2.20088169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23629675700002 meters 0.07741868928082642 Centerline is valid? [True, True] Translation: X:185.67, Y:-37.28, Z:-22.01 [[ 8.93520235e-01 4.42728831e-01 7.49184309e-02 1.85674341e+02] [-4.41473428e-01 8.96649949e-01 -3.34676228e-02 -3.72810698e+01] [-8.19926887e-02 -3.17049831e-03 9.96627888e-01 -2.20122727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26629675700002 meters 0.07729454628400736 Centerline is valid? [True, True] Translation: X:185.70, Y:-37.29, Z:-22.02 [[ 8.93308901e-01 4.43090274e-01 7.53008460e-02 1.85704357e+02] [-4.41821534e-01 8.96471284e-01 -3.36596184e-02 -3.72933962e+01] [-8.24192956e-02 -3.20109856e-03 9.96592601e-01 -2.20158488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29629675700002 meters 0.07743453514246704 Centerline is valid? [True, True] Translation: X:185.73, Y:-37.31, Z:-22.02 [[ 8.93186413e-01 4.43320920e-01 7.53962461e-02 1.85734671e+02] [-4.42047672e-01 8.96357238e-01 -3.37276818e-02 -3.73057061e+01] [-8.25341579e-02 -3.20362802e-03 9.96583087e-01 -2.20189901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32629675700002 meters 0.07766354346552334 Centerline is valid? [True, True] Translation: X:185.76, Y:-37.32, Z:-22.02 [[ 8.92702984e-01 4.44022684e-01 7.69755642e-02 1.85764818e+02] [-4.42695464e-01 8.96009431e-01 -3.44648475e-02 -3.73151644e+01] [-8.42740056e-02 -3.30986083e-03 9.96437121e-01 -2.20220557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35629675700002 meters 0.0771115786031176 Centerline is valid? [True, True] Translation: X:185.79, Y:-37.33, Z:-22.02 [[ 8.92594754e-01 4.44026309e-01 7.82000138e-02 1.85794304e+02] [-4.42655211e-01 8.96007486e-01 -3.50278404e-02 -3.73289490e+01] [-8.56210804e-02 -3.34997706e-03 9.96322141e-01 -2.20244331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.38629675700003 meters 0.07733221786857945 Centerline is valid? [True, True] Translation: X:185.82, Y:-37.34, Z:-22.03 [[ 8.92012962e-01 4.45040955e-01 7.90659479e-02 1.85823829e+02] [-4.43642832e-01 8.95503449e-01 -3.54204827e-02 -3.73377318e+01] [-8.65673945e-02 -3.48151133e-03 9.96239914e-01 -2.20283454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.41629675700003 meters 0.07766645196681358 Centerline is valid? [True, True] Translation: X:185.85, Y:-37.35, Z:-22.03 [[ 8.91632890e-01 4.45764093e-01 7.92790141e-02 1.85853340e+02] [-4.44359379e-01 8.95143468e-01 -3.55375072e-02 -3.73482306e+01] [-8.68074363e-02 -3.54196318e-03 9.96218813e-01 -2.20317130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.44629675700003 meters 0.07816592230365015 Centerline is valid? [True, True] Translation: X:185.88, Y:-37.36, Z:-22.04 [[ 8.91162540e-01 4.46660451e-01 7.95221218e-02 1.85883702e+02] [-4.45248812e-01 8.94696220e-01 -3.56675000e-02 -3.73571303e+01] [-8.70794034e-02 -3.62159028e-03 9.96194791e-01 -2.20369683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.47629675700003 meters 0.07803088195001942 Centerline is valid? [True, True] Translation: X:185.91, Y:-37.37, Z:-22.04 [[ 8.90864365e-01 4.47505032e-01 7.81020478e-02 1.85913333e+02] [-4.46144808e-01 8.94274095e-01 -3.50521666e-02 -3.73686471e+01] [-8.55306590e-02 -3.61809696e-03 9.96328970e-01 -2.20412347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.50629675700003 meters 0.07860297859473224 Centerline is valid? [True, True] Translation: X:185.94, Y:-37.38, Z:-22.05 [[ 8.89786935e-01 4.49901571e-01 7.66014835e-02 1.85943850e+02] [-4.48600169e-01 8.93070256e-01 -3.44006730e-02 -3.73770532e+01] [-8.38874233e-02 -3.75416900e-03 9.96468166e-01 -2.20463544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.53629675700003 meters 0.07853380399233585 Centerline is valid? [True, True] Translation: X:185.97, Y:-37.39, Z:-22.05 [[ 8.89554930e-01 4.50197508e-01 7.75514618e-02 1.85973203e+02] [-4.48862969e-01 8.92920869e-01 -3.48476210e-02 -3.73884362e+01] [-8.49356308e-02 -3.81110629e-03 9.96379152e-01 -2.20503760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.56629675700003 meters 0.07806806281259993 Centerline is valid? [True, True] Translation: X:186.00, Y:-37.40, Z:-22.05 [[ 8.88945087e-01 4.51427509e-01 7.73940338e-02 1.86002846e+02] [-4.50101153e-01 8.92299270e-01 -3.47989048e-02 -3.74011948e+01] [-8.47678228e-02 -3.90082843e-03 9.96393095e-01 -2.20530933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.59629675700003 meters 0.0781409475319267 Centerline is valid? [True, True] Translation: X:186.03, Y:-37.41, Z:-22.06 [[ 8.88804280e-01 4.51842071e-01 7.65878258e-02 1.86032487e+02] [-4.50542900e-01 8.92089511e-01 -3.44586568e-02 -3.74132431e+01] [-8.38930669e-02 -3.87909954e-03 9.96467213e-01 -2.20568740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.62629675700003 meters 0.07758769608988395 Centerline is valid? [True, True] Translation: X:186.06, Y:-37.43, Z:-22.06 [[ 8.89581295e-01 4.50182673e-01 7.73348634e-02 1.86060262e+02] [-4.48849712e-01 8.92928660e-01 -3.48187391e-02 -3.74271070e+01] [-8.47293090e-02 -3.73763216e-03 9.96396996e-01 -2.20601814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.65629675700004 meters 0.07741647605652582 Centerline is valid? [True, True] Translation: X:186.09, Y:-37.44, Z:-22.06 [[ 8.90310960e-01 4.48800000e-01 7.69737304e-02 1.86089506e+02] [-4.47472361e-01 8.93625105e-01 -3.46793607e-02 -3.74408847e+01] [-8.43497550e-02 -3.56820199e-03 9.96429820e-01 -2.20639332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.68629675700004 meters 0.0762901249220731 Centerline is valid? [True, True] Translation: X:186.12, Y:-37.46, Z:-22.07 [[ 8.92539943e-01 4.44541709e-01 7.58625010e-02 1.86116384e+02] [-4.43236152e-01 8.95752747e-01 -3.41866791e-02 -3.74576816e+01] [-8.31514484e-02 -3.11202641e-03 9.96532063e-01 -2.20663197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.71629675700004 meters 0.07632658287634393 Centerline is valid? [True, True] Translation: X:186.14, Y:-37.47, Z:-22.07 [[ 8.93384746e-01 4.42621407e-01 7.71361501e-02 1.86144460e+02] [-4.41264055e-01 8.96703639e-01 -3.47651723e-02 -3.74710851e+01] [-8.45560760e-02 -2.97873568e-03 9.96414270e-01 -2.20703506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.74629675700004 meters 0.07570573999974331 Centerline is valid? [True, True] Translation: X:186.17, Y:-37.49, Z:-22.07 [[ 8.95514765e-01 4.38147276e-01 7.79760898e-02 1.86171566e+02] [-4.36741487e-01 8.98899539e-01 -3.51637798e-02 -3.74855954e+01] [-8.54995856e-02 -2.56570943e-03 9.96334903e-01 -2.20733056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.77629675700004 meters 0.0750572532037855 Centerline is valid? [True, True] Translation: X:186.20, Y:-37.50, Z:-22.08 [[ 8.97073235e-01 4.34551428e-01 8.01540289e-02 1.86199334e+02] [-4.33049617e-01 9.00644172e-01 -3.61677353e-02 -3.75016022e+01] [-8.79070000e-02 -2.26556422e-03 9.96126110e-01 -2.20758706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.806296757 meters 0.0748923317080417 Centerline is valid? [True, True] Translation: X:186.23, Y:-37.52, Z:-22.08 [[ 8.97816223e-01 4.32985448e-01 8.03095979e-02 1.86228270e+02] [-4.31470135e-01 9.01398460e-01 -3.62538064e-02 -3.75155907e+01] [-8.80883185e-02 -2.10193748e-03 9.96110451e-01 -2.20796238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.836296757 meters 0.0749749848482597 Centerline is valid? [True, True] Translation: X:186.26, Y:-37.53, Z:-22.08 [[ 8.98319836e-01 4.31949931e-01 8.02541620e-02 1.86256893e+02] [-4.30430286e-01 9.01895424e-01 -3.62548401e-02 -3.75281372e+01] [-8.80411371e-02 -1.97537988e-03 9.96114881e-01 -2.20837640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.86629675700001 meters 0.07496962109479195 Centerline is valid? [True, True] Translation: X:186.29, Y:-37.54, Z:-22.09 [[ 8.99039949e-01 4.30194302e-01 8.16090231e-02 1.86285447e+02] [-4.28614533e-01 9.02734478e-01 -3.68787789e-02 -3.75399270e+01] [-8.95363194e-02 -1.82331783e-03 9.95981889e-01 -2.20885524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.89629675700002 meters 0.07490612931240884 Centerline is valid? [True, True] Translation: X:186.32, Y:-37.55, Z:-22.09 [[ 8.98951281e-01 4.30363130e-01 8.16956046e-02 1.86315139e+02] [-4.28778868e-01 9.02654004e-01 -3.69382103e-02 -3.75536264e+01] [-8.96397084e-02 -1.82369742e-03 9.95972588e-01 -2.20911344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.92629675700002 meters 0.07485283328744477 Centerline is valid? [True, True] Translation: X:186.34, Y:-37.56, Z:-22.09 [[ 8.98633870e-01 4.30875686e-01 8.24821862e-02 1.86344802e+02] [-4.29260363e-01 9.02409360e-01 -3.73214045e-02 -3.75649975e+01] [-9.05135827e-02 -1.86805505e-03 9.95893469e-01 -2.20943909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95629675700002 meters 0.07500631588115583 Centerline is valid? [True, True] Translation: X:186.37, Y:-37.58, Z:-22.10 [[ 8.98187969e-01 4.31674791e-01 8.31579651e-02 1.86374518e+02] [-4.30034129e-01 9.02027215e-01 -3.76503784e-02 -3.75775689e+01] [-9.12634669e-02 -1.94364623e-03 9.95824885e-01 -2.20981859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98629675700002 meters 0.07486255132475607 Centerline is valid? [True, True] Translation: X:186.40, Y:-37.59, Z:-22.10 [[ 8.97818754e-01 4.32139302e-01 8.47178140e-02 1.86403278e+02] [-4.30435764e-01 9.01804643e-01 -3.83854083e-02 -3.75915017e+01] [-9.29867616e-02 -2.00243748e-03 9.95665332e-01 -2.20998720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01629675700002 meters 0.0750012659274783 Centerline is valid? [True, True] Translation: X:186.43, Y:-37.60, Z:-22.11 [[ 8.97743918e-01 4.32329858e-01 8.45384648e-02 1.86432582e+02] [-4.30632121e-01 9.01713319e-01 -3.83283992e-02 -3.76020872e+01] [-9.27999711e-02 -1.99589113e-03 9.95682772e-01 -2.21052367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04629675700002 meters 0.07514167932737337 Centerline is valid? [True, True] Translation: X:186.46, Y:-37.61, Z:-22.11 [[ 8.97569431e-01 4.32579150e-01 8.51140138e-02 1.86462119e+02] [-4.30856759e-01 9.01593719e-01 -3.86163007e-02 -3.76144259e+01] [-9.34428668e-02 -2.01113708e-03 9.95622612e-01 -2.21093837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07629675700002 meters 0.07526461799646592 Centerline is valid? [True, True] Translation: X:186.49, Y:-37.63, Z:-22.12 [[ 8.97065819e-01 4.33888465e-01 8.37479346e-02 1.86490480e+02] [-4.32224390e-01 9.00964168e-01 -3.80216349e-02 -3.76250851e+01] [-9.19510370e-02 -2.08999092e-03 9.95761336e-01 -2.21155192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10629675700002 meters 0.07525483528726169 Centerline is valid? [True, True] Translation: X:186.52, Y:-37.64, Z:-22.12 [[ 8.96904603e-01 4.34186996e-01 8.39272579e-02 1.86520331e+02] [-4.32515704e-01 9.00820289e-01 -3.81178796e-02 -3.76392484e+01] [-9.21536643e-02 -2.11175534e-03 9.95742558e-01 -2.21191136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.13629675700003 meters 0.07506237259519358 Centerline is valid? [True, True] Translation: X:186.55, Y:-37.65, Z:-22.12 [[ 8.96370407e-01 4.35274039e-01 8.40035966e-02 1.86549146e+02] [-4.33601824e-01 9.00295325e-01 -3.81809724e-02 -3.76535625e+01] [-9.22472313e-02 -2.19981891e-03 9.95733704e-01 -2.21227958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.16629675700003 meters 0.0751578194471292 Centerline is valid? [True, True] Translation: X:186.58, Y:-37.67, Z:-22.13 [[ 8.95544724e-01 4.37056394e-01 8.35545128e-02 1.86578754e+02] [-4.35407531e-01 8.99431038e-01 -3.80011692e-02 -3.76653027e+01] [-9.17601761e-02 -2.34851758e-03 9.95778366e-01 -2.21273752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.19629675700003 meters 0.0751578194471292 Centerline is valid? [True, True] Translation: X:186.61, Y:-37.68, Z:-22.13 [[ 8.95424635e-01 4.37304066e-01 8.35456576e-02 1.86608031e+02] [-4.35654464e-01 8.99310636e-01 -3.80206262e-02 -3.76787190e+01] [-9.17600729e-02 -2.35243338e-03 9.95778366e-01 -2.21309903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.22629675700003 meters 0.07496245776151421 Centerline is valid? [True, True] Translation: X:186.64, Y:-37.69, Z:-22.13 [[ 8.94776450e-01 4.38481948e-01 8.43130217e-02 1.86637807e+02] [-4.36804430e-01 8.98736601e-01 -3.83980732e-02 -3.76925194e+01] [-9.26120604e-02 -2.47060973e-03 9.95699203e-01 -2.21335604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.25629675700003 meters 0.0756433236041921 Centerline is valid? [True, True] Translation: X:186.67, Y:-37.70, Z:-22.14 [[ 8.93855821e-01 4.40517780e-01 8.34617054e-02 1.86667120e+02] [-4.38880156e-01 8.97740041e-01 -3.80398090e-02 -3.77015847e+01] [-9.16841270e-02 -2.62758160e-03 9.95784674e-01 -2.21396845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.28629675700003 meters 0.07598014159612478 Centerline is valid? [True, True] Translation: X:186.70, Y:-37.71, Z:-22.14 [[ 8.92142390e-01 4.44102478e-01 8.27945967e-02 1.86696932e+02] [-4.42503983e-01 8.95971147e-01 -3.77614669e-02 -3.77129005e+01] [-9.09515308e-02 -2.94833349e-03 9.95850956e-01 -2.21430608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.31629675700003 meters 0.07645878764199583 Centerline is valid? [True, True] Translation: X:186.73, Y:-37.72, Z:-22.15 [[ 8.91364406e-01 4.45610655e-01 8.30700858e-02 1.86726045e+02] [-4.44007536e-01 8.95221472e-01 -3.78922551e-02 -3.77235594e+01] [-9.12513172e-02 -3.10793667e-03 9.95823045e-01 -2.21478223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.34629675700003 meters 0.0767245362012126 Centerline is valid? [True, True] Translation: X:186.76, Y:-37.74, Z:-22.15 [[ 8.89954376e-01 4.48612236e-01 8.20260331e-02 1.86755316e+02] [-4.47059756e-01 8.93720221e-01 -3.74398183e-02 -3.77354777e+01] [-9.01042850e-02 -3.35080824e-03 9.95926699e-01 -2.21508011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.37629675700003 meters 0.07691343541711099 Centerline is valid? [True, True] Translation: X:186.79, Y:-37.75, Z:-22.15 [[ 8.89269968e-01 4.49793137e-01 8.29762525e-02 1.86785076e+02] [-4.48207500e-01 8.93125941e-01 -3.78957809e-02 -3.77480972e+01] [-9.11535058e-02 -3.49099880e-03 9.95830734e-01 -2.21542449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.40629675700004 meters 0.07694354855471498 Centerline is valid? [True, True] Translation: X:186.81, Y:-37.76, Z:-22.16 [[ 8.88496471e-01 4.51137582e-01 8.39577457e-02 1.86814794e+02] [-4.49517832e-01 8.92446950e-01 -3.83687353e-02 -3.77599479e+01] [-9.22374126e-02 -3.65001792e-03 9.95730354e-01 -2.21576239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.43629675700004 meters 0.07718354920015084 Centerline is valid? [True, True] Translation: X:186.84, Y:-37.77, Z:-22.16 [[ 8.87983848e-01 4.51934864e-01 8.50856252e-02 1.86843678e+02] [-4.50272545e-01 8.92043010e-01 -3.89089125e-02 -3.77718667e+01] [-9.34843312e-02 -3.76123513e-03 9.95613646e-01 -2.21618811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.46629675700004 meters 0.07709494855814142 Centerline is valid? [True, True] Translation: X:186.87, Y:-37.78, Z:-22.17 [[ 8.87627626e-01 4.52626983e-01 8.51235136e-02 1.86872375e+02] [-4.50963806e-01 8.91691811e-01 -3.89533053e-02 -3.77835993e+01] [-9.35352570e-02 -3.81159373e-03 9.95608672e-01 -2.21658225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.49629675700004 meters 0.07668734043459989 Centerline is valid? [True, True] Translation: X:186.90, Y:-37.80, Z:-22.17 [[ 8.87565139e-01 4.52792339e-01 8.48953548e-02 1.86901871e+02] [-4.51136837e-01 8.91607908e-01 -3.88702070e-02 -3.77980916e+01] [-9.32935016e-02 -3.79958120e-03 9.95631401e-01 -2.21695627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.52629675700004 meters 0.07573488240507106 Centerline is valid? [True, True] Translation: X:186.93, Y:-37.81, Z:-22.17 [[ 8.87721796e-01 4.52551424e-01 8.45412442e-02 1.86929126e+02] [-4.50906026e-01 8.91730492e-01 -3.87360945e-02 -3.78147524e+01] [-9.29180800e-02 -3.73328099e-03 9.95666758e-01 -2.21719468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.556296757 meters 0.07616255941610994 Centerline is valid? [True, True] Translation: X:186.96, Y:-37.83, Z:-22.18 [[ 8.87755340e-01 4.52561013e-01 8.41367125e-02 1.86958509e+02] [-4.50929098e-01 8.91725789e-01 -3.85754514e-02 -3.78263879e+01] [-9.24846217e-02 -3.69412892e-03 9.95707260e-01 -2.21770037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.586296757 meters 0.07548214101922603 Centerline is valid? [True, True] Translation: X:186.99, Y:-37.84, Z:-22.18 [[ 8.88352854e-01 4.51330482e-01 8.44393409e-02 1.86986748e+02] [-4.49678481e-01 8.92349806e-01 -3.87438656e-02 -3.78426946e+01] [-9.28357171e-02 -3.55233093e-03 9.95675103e-01 -2.21800084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.61629675700001 meters 0.07548529313808484 Centerline is valid? [True, True] Translation: X:187.01, Y:-37.86, Z:-22.18 [[ 8.88711417e-01 4.50516050e-01 8.50135665e-02 1.87014789e+02] [-4.48836629e-01 8.92761545e-01 -3.90192826e-02 -3.78563836e+01] [-9.34756560e-02 -3.48032068e-03 9.95615483e-01 -2.21827768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.64629675700002 meters 0.07520625674629665 Centerline is valid? [True, True] Translation: X:187.04, Y:-37.87, Z:-22.19 [[ 8.88895364e-01 4.50150293e-01 8.50279179e-02 1.87043787e+02] [-4.48466505e-01 8.92946249e-01 -3.90485640e-02 -3.78705547e+01] [-9.35030828e-02 -3.42208564e-03 9.95613109e-01 -2.21859622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.67629675700002 meters 0.07521245801548684 Centerline is valid? [True, True] Translation: X:187.07, Y:-37.88, Z:-22.19 [[ 8.88864122e-01 4.50289718e-01 8.46152596e-02 1.87073468e+02] [-4.48620696e-01 8.92876037e-01 -3.88825621e-02 -3.78847173e+01] [-9.30593556e-02 -3.39884219e-03 9.95654762e-01 -2.21889452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70629675700002 meters 0.07442759999785588 Centerline is valid? [True, True] Translation: X:187.10, Y:-37.90, Z:-22.19 [[ 8.88613075e-01 4.50805898e-01 8.45035173e-02 1.87101579e+02] [-4.49140962e-01 8.92615442e-01 -3.88596165e-02 -3.79015780e+01] [-9.29472887e-02 -3.42282773e-03 9.95665147e-01 -2.21895810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73629675700002 meters 0.07543441322432379 Centerline is valid? [True, True] Translation: X:187.13, Y:-37.91, Z:-22.20 [[ 8.88264908e-01 4.51402319e-01 8.49788175e-02 1.87132069e+02] [-4.49718884e-01 8.92313746e-01 -3.91037497e-02 -3.79099833e+01] [-9.34792902e-02 -3.48209034e-03 9.95615135e-01 -2.21959835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76629675700002 meters 0.07476743107331756 Centerline is valid? [True, True] Translation: X:187.16, Y:-37.93, Z:-22.20 [[ 8.87494441e-01 4.53363247e-01 8.25553337e-02 1.87159972e+02] [-4.51780238e-01 8.91318759e-01 -3.80195479e-02 -3.79264843e+01] [-9.08197833e-02 -3.55473088e-03 9.95861000e-01 -2.21970583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79629675700002 meters 0.0749213773347136 Centerline is valid? [True, True] Translation: X:187.19, Y:-37.94, Z:-22.20 [[ 8.86847176e-01 4.54952251e-01 8.07498349e-02 1.87188365e+02] [-4.53443518e-01 8.90508448e-01 -3.71978450e-02 -3.79384722e+01] [-8.88316535e-02 -3.62668542e-03 9.96040052e-01 -2.22010207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82629675700002 meters 0.07531247663411803 Centerline is valid? [True, True] Translation: X:187.22, Y:-37.95, Z:-22.21 [[ 8.86230141e-01 4.56410411e-01 7.92822479e-02 1.87217919e+02] [-4.54959958e-01 8.89761747e-01 -3.65440753e-02 -3.79504314e+01] [-8.72214078e-02 -3.68378721e-03 9.96182140e-01 -2.22059910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85629675700002 meters 0.07547648138062568 Centerline is valid? [True, True] Translation: X:187.25, Y:-37.96, Z:-22.21 [[ 8.85999700e-01 4.57003993e-01 7.84339367e-02 1.87246770e+02] [-4.55585253e-01 8.89457004e-01 -3.61706352e-02 -3.79631761e+01] [-8.62937391e-02 -3.68617299e-03 9.96262918e-01 -2.22101759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.88629675700003 meters 0.07600057316393104 Centerline is valid? [True, True] Translation: X:187.28, Y:-37.97, Z:-22.22 [[ 8.85091998e-01 4.59164608e-01 7.60264309e-02 1.87275471e+02] [-4.57837816e-01 8.88343262e-01 -3.50825109e-02 -3.79745590e+01] [-8.36462150e-02 -3.75652547e-03 9.96488434e-01 -2.22153603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.91629675700003 meters 0.07648257583517179 Centerline is valid? [True, True] Translation: X:187.30, Y:-37.99, Z:-22.22 [[ 8.84384643e-01 4.60555461e-01 7.58450437e-02 1.87304741e+02] [-4.59238404e-01 8.87622533e-01 -3.50189419e-02 -3.79869659e+01] [-8.34499347e-02 -3.86074238e-03 9.96504492e-01 -2.22196949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.94629675700003 meters 0.07713031896243464 Centerline is valid? [True, True] Translation: X:187.33, Y:-38.00, Z:-22.22 [[ 8.83376613e-01 4.62382303e-01 7.64746021e-02 1.87333005e+02] [-4.61047869e-01 8.86671446e-01 -3.53356574e-02 -3.79985098e+01] [-8.41464287e-02 -4.04375902e-03 9.96445195e-01 -2.22233190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.97629675700003 meters 0.07767888775945668 Centerline is valid? [True, True] Translation: X:187.36, Y:-38.01, Z:-22.23 [[ 8.82563447e-01 4.63808918e-01 7.72207791e-02 1.87361382e+02] [-4.62452994e-01 8.85925242e-01 -3.56888387e-02 -3.80098044e+01] [-8.49646391e-02 -4.21331597e-03 9.96375059e-01 -2.22269898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.00629675700003 meters 0.07786961982187766 Centerline is valid? [True, True] Translation: X:187.39, Y:-38.02, Z:-22.23 [[ 8.82079260e-01 4.64503531e-01 7.85662040e-02 1.87391018e+02] [-4.63100803e-01 8.85560649e-01 -3.63315778e-02 -3.80230903e+01] [-8.64512848e-02 -4.33674091e-03 9.96246640e-01 -2.22292524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.03629675700003 meters 0.07835707988396727 Centerline is valid? [True, True] Translation: X:187.42, Y:-38.04, Z:-22.23 [[ 8.81866728e-01 4.64818283e-01 7.90887925e-02 1.87419867e+02] [-4.63395904e-01 8.85395293e-01 -3.65979780e-02 -3.80354130e+01] [-8.70362539e-02 -4.37488335e-03 9.96195538e-01 -2.22335374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.06629675700003 meters 0.07849023757947812 Centerline is valid? [True, True] Translation: X:187.45, Y:-38.05, Z:-22.24 [[ 8.81651658e-01 4.65143141e-01 7.95751953e-02 1.87449234e+02] [-4.63703293e-01 8.85224437e-01 -3.68368287e-02 -3.80487105e+01] [-8.75763057e-02 -4.42202909e-03 9.96147999e-01 -2.22371135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.09629675700003 meters 0.07814268081261565 Centerline is valid? [True, True] Translation: X:187.48, Y:-38.06, Z:-22.24 [[ 8.81702820e-01 4.64922369e-01 8.02952529e-02 1.87477871e+02] [-4.63452980e-01 8.85340437e-01 -3.71973896e-02 -3.80622655e+01] [-8.83825328e-02 -4.41603088e-03 9.96076818e-01 -2.22400589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.12629675700003 meters 0.078581976876042 Centerline is valid? [True, True] Translation: X:187.51, Y:-38.07, Z:-22.24 [[ 8.81481109e-01 4.65388529e-01 8.00285648e-02 1.87507188e+02] [-4.63928805e-01 8.85095426e-01 -3.70965108e-02 -3.80745999e+01] [-8.80972073e-02 -4.42768294e-03 9.96102042e-01 -2.22447963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.15629675700004 meters 0.07869735901883576 Centerline is valid? [True, True] Translation: X:187.54, Y:-38.09, Z:-22.25 [[ 8.81446292e-01 4.65427868e-01 8.01831215e-02 1.87535291e+02] [-4.63960616e-01 8.85074779e-01 -3.71911547e-02 -3.80868392e+01] [-8.82778584e-02 -4.41980504e-03 9.96086083e-01 -2.22483195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.18629675700004 meters 0.07866344053671588 Centerline is valid? [True, True] Translation: X:187.56, Y:-38.10, Z:-22.25 [[ 8.81747826e-01 4.65123947e-01 7.86160616e-02 1.87564117e+02] [-4.63710744e-01 8.85235190e-01 -3.64829428e-02 -3.81011013e+01] [-8.65627946e-02 -4.28635688e-03 9.96237175e-01 -2.22526421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.21629675700004 meters 0.07873154771680811 Centerline is valid? [True, True] Translation: X:187.59, Y:-38.11, Z:-22.26 [[ 8.82026472e-01 4.64644005e-01 7.83278491e-02 1.87592781e+02] [-4.63237012e-01 8.85487609e-01 -3.63753391e-02 -3.81132595e+01] [-8.62599231e-02 -4.20034671e-03 9.96263812e-01 -2.22575099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.24629675700004 meters 0.07832791828486964 Centerline is valid? [True, True] Translation: X:187.62, Y:-38.13, Z:-22.26 [[ 8.82254979e-01 4.64018929e-01 7.94517783e-02 1.87622237e+02] [-4.62566585e-01 8.85815432e-01 -3.69211969e-02 -3.81268755e+01] [-8.75117455e-02 -4.17782799e-03 9.96154727e-01 -2.22609270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.27629675700004 meters 0.07863400263758526 Centerline is valid? [True, True] Translation: X:187.65, Y:-38.14, Z:-22.27 [[ 8.82106099e-01 4.64458484e-01 7.85311789e-02 1.87652087e+02] [-4.63041061e-01 8.85585082e-01 -3.64970969e-02 -3.81389591e+01] [-8.64974268e-02 -4.16884864e-03 9.96243352e-01 -2.22653061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.306296757 meters 0.07735371126509823 Centerline is valid? [True, True] Translation: X:187.68, Y:-38.16, Z:-22.27 [[ 8.81763231e-01 4.65254421e-01 7.76654901e-02 1.87679183e+02] [-4.63869412e-01 8.85167126e-01 -3.61154867e-02 -3.81559759e+01] [-8.55498285e-02 -4.18133696e-03 9.96325119e-01 -2.22664997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.336296757 meters 0.0780164277966298 Centerline is valid? [True, True] Translation: X:187.71, Y:-38.17, Z:-22.27 [[ 8.81459749e-01 4.66175680e-01 7.55575733e-02 1.87708168e+02] [-4.64866694e-01 8.84682497e-01 -3.51544471e-02 -3.81668151e+01] [-8.32326109e-02 -4.13696923e-03 9.96521559e-01 -2.22714896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.36629675700001 meters 0.080627327205271 Centerline is valid? [True, True] Translation: X:187.74, Y:-38.17, Z:-22.28 [[ 8.80909700e-01 4.67262385e-01 7.52593112e-02 1.87738630e+02] [-4.65965784e-01 8.84108705e-01 -3.50383557e-02 -3.81727708e+01] [-8.29095177e-02 -4.20263656e-03 9.96548217e-01 -2.22789666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.39629675700002 meters 0.07857035816253856 Centerline is valid? [True, True] Translation: X:187.77, Y:-38.19, Z:-22.28 [[ 8.80713815e-01 4.67395653e-01 7.67103591e-02 1.87766621e+02] [-4.66047995e-01 8.84037855e-01 -3.57258527e-02 -3.81905699e+01] [-8.45129696e-02 -4.28645699e-03 9.96413159e-01 -2.22789062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.42629675700002 meters 0.07893624597196154 Centerline is valid? [True, True] Translation: X:187.80, Y:-38.20, Z:-22.28 [[ 8.80524464e-01 4.67622711e-01 7.74962489e-02 1.87795186e+02] [-4.66247774e-01 8.83917466e-01 -3.60960794e-02 -3.82025584e+01] [-8.53796344e-02 -4.34897261e-03 9.96339001e-01 -2.22824642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45629675700002 meters 0.07936028790912276 Centerline is valid? [True, True] Translation: X:187.82, Y:-38.21, Z:-22.29 [[ 8.80400263e-01 4.67737127e-01 7.82135369e-02 1.87823566e+02] [-4.66335264e-01 8.83856760e-01 -3.64506335e-02 -3.82143489e+01] [-8.61788780e-02 -4.38258308e-03 9.96270041e-01 -2.22863216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48629675700002 meters 0.07931133961937946 Centerline is valid? [True, True] Translation: X:187.85, Y:-38.23, Z:-22.29 [[ 8.80591707e-01 4.67319432e-01 7.85544046e-02 1.87852507e+02] [-4.65901936e-01 8.84077873e-01 -3.66292312e-02 -3.82274608e+01] [-8.65657624e-02 -4.34325194e-03 9.96236671e-01 -2.22900320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51629675700002 meters 0.07939389297107415 Centerline is valid? [True, True] Translation: X:187.88, Y:-38.24, Z:-22.29 [[ 8.81020609e-01 4.66417481e-01 7.91038623e-02 1.87880680e+02] [-4.64974490e-01 8.84554433e-01 -3.69077061e-02 -3.82402601e+01] [-8.71860714e-02 -4.26482832e-03 9.96182915e-01 -2.22939939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54629675700002 meters 0.07621935472966845 Centerline is valid? [True, True] Translation: X:187.91, Y:-38.26, Z:-22.29 [[ 8.81151246e-01 4.66239051e-01 7.86996169e-02 1.87905727e+02] [-4.64808446e-01 8.84648764e-01 -3.67378954e-02 -3.82635958e+01] [-8.67501603e-02 -4.20860439e-03 9.96221209e-01 -2.22927281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57629675700002 meters 0.07580102403973879 Centerline is valid? [True, True] Translation: X:187.93, Y:-38.28, Z:-22.30 [[ 8.81927325e-01 4.64636988e-01 7.94774306e-02 1.87933456e+02] [-4.63169238e-01 8.85491904e-01 -3.71260587e-02 -3.82776796e+01] [-8.76267615e-02 -4.06901537e-03 9.96145067e-01 -2.22961274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60629675700002 meters 0.07590968390049271 Centerline is valid? [True, True] Translation: X:187.96, Y:-38.29, Z:-22.30 [[ 8.82248545e-01 4.63931709e-01 8.00304560e-02 1.87961578e+02] [-4.62438747e-01 8.85861895e-01 -3.74046509e-02 -3.82899660e+01] [-8.82491350e-02 -4.00898498e-03 9.96090366e-01 -2.22996997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.63629675700003 meters 0.07867783766902667 Centerline is valid? [True, True] Translation: X:187.99, Y:-38.30, Z:-22.31 [[ 8.83127617e-01 4.62350560e-01 7.94831540e-02 1.87993074e+02] [-4.60869731e-01 8.86689054e-01 -3.71700548e-02 -3.82952759e+01] [-8.76624383e-02 -3.80547789e-03 9.96142969e-01 -2.23095784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.66629675700003 meters 0.07416033512685559 Centerline is valid? [True, True] Translation: X:188.02, Y:-38.32, Z:-22.31 [[ 8.84522986e-01 4.59799577e-01 7.87618956e-02 1.88016019e+02] [-4.58333189e-01 8.88015834e-01 -3.68587320e-02 -3.83233496e+01] [-8.68894398e-02 -3.49679510e-03 9.96211824e-01 -2.23063211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.69629675700003 meters 0.07420550650610509 Centerline is valid? [True, True] Translation: X:188.04, Y:-38.34, Z:-22.31 [[ 8.84896200e-01 4.59166640e-01 7.82605351e-02 1.88043875e+02] [-4.57715752e-01 8.88343626e-01 -3.66318504e-02 -3.83355862e+01] [-8.63423712e-02 -3.40569442e-03 9.96259703e-01 -2.23102730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.72629675700003 meters 0.07361282302808166 Centerline is valid? [True, True] Translation: X:188.07, Y:-38.35, Z:-22.31 [[ 8.85945471e-01 4.56802176e-01 8.02022110e-02 1.88071478e+02] [-4.55266503e-01 8.89562431e-01 -3.75645235e-02 -3.83494491e+01] [-8.85044298e-02 -3.23326069e-03 9.96070536e-01 -2.23141463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.75629675700003 meters 0.07355776178478513 Centerline is valid? [True, True] Translation: X:188.10, Y:-38.36, Z:-22.32 [[ 8.86312003e-01 4.56036924e-01 8.05068778e-02 1.88099248e+02] [-4.54484556e-01 8.89955279e-01 -3.77278442e-02 -3.83625033e+01] [-8.88528109e-02 -3.15049144e-03 9.96039785e-01 -2.23186916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.78629675700003 meters 0.07284498689528626 Centerline is valid? [True, True] Translation: X:188.13, Y:-38.38, Z:-22.32 [[ 8.87226389e-01 4.54397274e-01 7.97022658e-02 1.88127461e+02] [-4.52867333e-01 8.90794304e-01 -3.73722732e-02 -3.83780559e+01] [-8.79801834e-02 -2.93688555e-03 9.96117896e-01 -2.23208433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.81629675700003 meters 0.07261402888056241 Centerline is valid? [True, True] Translation: X:188.16, Y:-38.39, Z:-22.33 [[ 8.87446356e-01 4.53869686e-01 8.02575431e-02 1.88156014e+02] [-4.52313998e-01 8.91063408e-01 -3.76570143e-02 -3.83913941e+01] [-8.86059371e-02 -2.88303006e-03 9.96062586e-01 -2.23254254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.84629675700003 meters 0.07242765899826603 Centerline is valid? [True, True] Translation: X:188.19, Y:-38.41, Z:-22.33 [[ 8.88175575e-01 4.52769867e-01 7.83810925e-02 1.88185015e+02] [-4.51280053e-01 8.91623361e-01 -3.67980364e-02 -3.84057137e+01] [-8.65474552e-02 -2.68870648e-03 9.96244101e-01 -2.23289755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.87629675700003 meters 0.07243064871150065 Centerline is valid? [True, True] Translation: X:188.21, Y:-38.42, Z:-22.33 [[ 8.88583372e-01 4.52087906e-01 7.76924517e-02 1.88213717e+02] [-4.50619301e-01 8.91969671e-01 -3.65013963e-02 -3.84184315e+01] [-8.58011504e-02 -2.57518444e-03 9.96308954e-01 -2.23338523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.90629675700004 meters 0.07237766463157591 Centerline is valid? [True, True] Translation: X:188.24, Y:-38.43, Z:-22.34 [[ 8.88798963e-01 4.52023047e-01 7.55749250e-02 1.88242658e+02] [-4.50631222e-01 8.92002821e-01 -3.55312378e-02 -3.84303753e+01] [-8.34739847e-02 -2.47629348e-03 9.96506880e-01 -2.23380426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.93629675700004 meters 0.07247707384211305 Centerline is valid? [True, True] Translation: X:188.27, Y:-38.44, Z:-22.34 [[ 8.88806767e-01 4.51960610e-01 7.58560361e-02 1.88271783e+02] [-4.50557487e-01 8.92034469e-01 -3.56715126e-02 -3.84426619e+01] [-8.37883175e-02 -2.47242314e-03 9.96480509e-01 -2.23415338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.96629675700004 meters 0.07279522974809059 Centerline is valid? [True, True] Translation: X:188.30, Y:-38.45, Z:-22.34 [[ 8.88120097e-01 4.53421572e-01 7.51769364e-02 1.88300544e+02] [-4.52046680e-01 8.91292488e-01 -3.53765301e-02 -3.84533745e+01] [-8.30451206e-02 -2.56487718e-03 9.96542487e-01 -2.23442589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.99629675700004 meters 0.07269407261734752 Centerline is valid? [True, True] Translation: X:188.33, Y:-38.47, Z:-22.35 [[ 8.88385422e-01 4.52680765e-01 7.64948826e-02 1.88330271e+02] [-4.51253290e-01 8.91669073e-01 -3.60101638e-02 -3.84662940e+01] [-8.45092295e-02 -2.52766285e-03 9.96419490e-01 -2.23471338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.02629675700004 meters 0.07257524214050297 Centerline is valid? [True, True] Translation: X:188.36, Y:-38.48, Z:-22.35 [[ 8.88234888e-01 4.52957877e-01 7.66025141e-02 1.88360460e+02] [-4.51526747e-01 8.91528270e-01 -3.60685657e-02 -3.84799532e+01] [-8.46308478e-02 -2.55072554e-03 9.96409109e-01 -2.23495245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.056296757 meters 0.0727891209925148 Centerline is valid? [True, True] Translation: X:188.39, Y:-38.49, Z:-22.35 [[ 8.88022842e-01 4.53322326e-01 7.69044900e-02 1.88389661e+02] [-4.51879017e-01 8.91342948e-01 -3.62367583e-02 -3.84922419e+01] [-8.49752064e-02 -2.57245627e-03 9.96379745e-01 -2.23533142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.086296757 meters 0.0727891209925148 Centerline is valid? [True, True] Translation: X:188.42, Y:-38.51, Z:-22.36 [[ 8.87902297e-01 4.53559901e-01 7.68955530e-02 1.88418760e+02] [-4.52115841e-01 8.91222076e-01 -3.62557112e-02 -3.85060802e+01] [-8.49751512e-02 -2.57416832e-03 9.96379746e-01 -2.23569313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.11629675700001 meters 0.07300814790372631 Centerline is valid? [True, True] Translation: X:188.45, Y:-38.52, Z:-22.36 [[ 8.87613059e-01 4.54329506e-01 7.56819545e-02 1.88448232e+02] [-4.52931028e-01 8.90829977e-01 -3.57132469e-02 -3.85180866e+01] [-8.36453356e-02 -2.57916108e-03 9.96492251e-01 -2.23606001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.14629675700002 meters 0.07313034097031235 Centerline is valid? [True, True] Translation: X:188.48, Y:-38.53, Z:-22.36 [[ 8.87699486e-01 4.54138649e-01 7.58136587e-02 1.88476299e+02] [-4.52734285e-01 8.90927338e-01 -3.57791169e-02 -3.85298211e+01] [-8.37931409e-02 -2.56233885e-03 9.96479876e-01 -2.23643410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.17629675700002 meters 0.0722658683249239 Centerline is valid? [True, True] Translation: X:188.50, Y:-38.55, Z:-22.36 [[ 8.87535516e-01 4.54784574e-01 7.38356237e-02 1.88503513e+02] [-4.53453068e-01 8.90597870e-01 -3.48675921e-02 -3.85464850e+01] [-8.16150923e-02 -2.53476374e-03 9.96660700e-01 -2.23643811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20629675700002 meters 0.07342710756290047 Centerline is valid? [True, True] Translation: X:188.53, Y:-38.56, Z:-22.37 [[ 8.87373339e-01 4.55269896e-01 7.27865315e-02 1.88533163e+02] [-4.53977085e-01 8.90349869e-01 -3.43790330e-02 -3.85555684e+01] [-8.04572175e-02 -2.53638005e-03 9.96754836e-01 -2.23716519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23629675700002 meters 0.07226265852500555 Centerline is valid? [True, True] Translation: X:188.56, Y:-38.57, Z:-22.37 [[ 8.87806047e-01 4.54804092e-01 7.03822544e-02 1.88560984e+02] [-4.53592568e-01 8.90588288e-01 -3.32608428e-02 -3.85729313e+01] [-7.78087789e-02 -2.39569010e-03 9.96965423e-01 -2.23705173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26629675700002 meters 0.07247838610605765 Centerline is valid? [True, True] Translation: X:188.59, Y:-38.59, Z:-22.37 [[ 8.88164796e-01 4.54091071e-01 7.04598701e-02 1.88588863e+02] [-4.52872714e-01 8.90952269e-01 -3.33220641e-02 -3.85854955e+01] [-7.79076329e-02 -2.31386826e-03 9.96957896e-01 -2.23739991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29629675700002 meters 0.07259803353757895 Centerline is valid? [True, True] Translation: X:188.62, Y:-38.60, Z:-22.38 [[ 8.88450426e-01 4.53540140e-01 7.04072585e-02 1.88617276e+02] [-4.52321197e-01 8.91232995e-01 -3.33058949e-02 -3.85973936e+01] [-7.78548321e-02 -2.25605894e-03 9.96962153e-01 -2.23794041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32629675700002 meters 0.07188103836117149 Centerline is valid? [True, True] Translation: X:188.64, Y:-38.61, Z:-22.38 [[ 8.88832884e-01 4.52490164e-01 7.23101361e-02 1.88644554e+02] [-4.51199243e-01 8.91766668e-01 -3.42264889e-02 -3.86128203e+01] [-7.99709188e-02 -2.20464979e-03 9.96794759e-01 -2.23787906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35629675700002 meters 0.0716920281417891 Centerline is valid? [True, True] Translation: X:188.67, Y:-38.63, Z:-22.38 [[ 8.89042979e-01 4.52139167e-01 7.19218678e-02 1.88673486e+02] [-4.50859638e-01 8.91944822e-01 -3.40590850e-02 -3.86258280e+01] [-7.95497839e-02 -2.14667690e-03 9.96828583e-01 -2.23818373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.38629675700003 meters 0.071779576174255 Centerline is valid? [True, True] Translation: X:188.70, Y:-38.64, Z:-22.39 [[ 8.89295026e-01 4.51570251e-01 7.23786253e-02 1.88702135e+02] [-4.50270316e-01 8.92233133e-01 -3.43027609e-02 -3.86372852e+01] [-8.00687139e-02 -2.08467185e-03 9.96787166e-01 -2.23860072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.41629675700003 meters 0.07185371330350915 Centerline is valid? [True, True] Translation: X:188.73, Y:-38.65, Z:-22.39 [[ 8.89379786e-01 4.51547720e-01 7.14720444e-02 1.88731039e+02] [-4.50279472e-01 8.92244618e-01 -3.38812472e-02 -3.86505862e+01] [-7.90695468e-02 -2.04909804e-03 9.96866996e-01 -2.23890193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.44629675700003 meters 0.07206307523199829 Centerline is valid? [True, True] Translation: X:188.76, Y:-38.66, Z:-22.39 [[ 8.88894115e-01 4.52275090e-01 7.29005817e-02 1.88760423e+02] [-4.50956186e-01 8.91875933e-01 -3.45809096e-02 -3.86607910e+01] [-8.06583583e-02 -2.13620118e-03 9.96739518e-01 -2.23927538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.47629675700003 meters 0.0722010461226685 Centerline is valid? [True, True] Translation: X:188.79, Y:-38.67, Z:-22.40 [[ 8.88481747e-01 4.53193751e-01 7.22191764e-02 1.88789859e+02] [-4.51900955e-01 8.91409369e-01 -3.42762949e-02 -3.86738518e+01] [-7.99106531e-02 -2.18205239e-03 9.96799642e-01 -2.23957014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.50629675700003 meters 0.0721866479315148 Centerline is valid? [True, True] Translation: X:188.82, Y:-38.69, Z:-22.40 [[ 8.88502254e-01 4.53207994e-01 7.18766982e-02 1.88819575e+02] [-4.51925904e-01 8.91402193e-01 -3.41336697e-02 -3.86864573e+01] [-7.95406984e-02 -2.15509934e-03 9.96829290e-01 -2.23989793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.53629675700003 meters 0.07191758421726724 Centerline is valid? [True, True] Translation: X:188.85, Y:-38.70, Z:-22.40 [[ 8.88410277e-01 4.53247096e-01 7.27615941e-02 1.88848406e+02] [-4.51931449e-01 8.91382289e-01 -3.45771707e-02 -3.86996834e+01] [-8.05303985e-02 -2.16453881e-03 9.96749803e-01 -2.24017095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.56629675700003 meters 0.07178823071697382 Centerline is valid? [True, True] Translation: X:188.88, Y:-38.71, Z:-22.40 [[ 8.88286234e-01 4.53614726e-01 7.19808814e-02 1.88877227e+02] [-4.52326764e-01 8.91195283e-01 -3.42266791e-02 -3.87127459e+01] [-7.96747476e-02 -2.15579132e-03 9.96818583e-01 -2.24044349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.59629675700003 meters 0.07214232539901479 Centerline is valid? [True, True] Translation: X:188.91, Y:-38.72, Z:-22.41 [[ 8.88045162e-01 4.54101751e-01 7.18845622e-02 1.88906373e+02] [-4.52817164e-01 8.90947168e-01 -3.42017483e-02 -3.87238459e+01] [-7.95764209e-02 -2.17786648e-03 9.96826389e-01 -2.24098808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.62629675700003 meters 0.07190300420520909 Centerline is valid? [True, True] Translation: X:188.94, Y:-38.74, Z:-22.41 [[ 8.87852691e-01 4.54661462e-01 7.07146017e-02 1.88935926e+02] [-4.53418381e-01 8.90661687e-01 -3.36679511e-02 -3.87369294e+01] [-7.82903063e-02 -2.17111925e-03 9.96928239e-01 -2.24121671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.65629675700004 meters 0.07205741073974486 Centerline is valid? [True, True] Translation: X:188.97, Y:-38.75, Z:-22.42 [[ 8.87782051e-01 4.54849689e-01 7.03902724e-02 1.88966382e+02] [-4.53617071e-01 8.90565603e-01 -3.35329572e-02 -3.87489743e+01] [-7.79396105e-02 -2.16027165e-03 9.96955741e-01 -2.24173045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.68629675700004 meters 0.07166834349827436 Centerline is valid? [True, True] Translation: X:188.99, Y:-38.76, Z:-22.42 [[ 8.87808954e-01 4.54749932e-01 7.06948389e-02 1.88994347e+02] [-4.53504356e-01 8.90616598e-01 -3.37027352e-02 -3.87641424e+01] [-7.82883135e-02 -2.13882723e-03 9.96928466e-01 -2.24182736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.71629675700004 meters 0.07220115981063328 Centerline is valid? [True, True] Translation: X:189.02, Y:-38.77, Z:-22.42 [[ 8.87808687e-01 4.54796034e-01 7.04010148e-02 1.89023899e+02] [-4.53559329e-01 8.90593113e-01 -3.35833655e-02 -3.87745756e+01] [-7.79722404e-02 -2.11543341e-03 9.96953286e-01 -2.24234253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.74629675700004 meters 0.07290942464368604 Centerline is valid? [True, True] Translation: X:189.05, Y:-38.79, Z:-22.43 [[ 8.87397122e-01 4.55594736e-01 7.04257324e-02 1.89052645e+02] [-4.54357775e-01 8.90184672e-01 -3.36193687e-02 -3.87856202e+01] [-7.80087150e-02 -2.16474806e-03 9.96950327e-01 -2.24282766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.77629675700004 meters 0.07202815082633278 Centerline is valid? [True, True] Translation: X:189.08, Y:-38.80, Z:-22.43 [[ 8.87216259e-01 4.55895333e-01 7.07584192e-02 1.89080048e+02] [-4.54646193e-01 8.90030712e-01 -3.37960318e-02 -3.88027262e+01] [-7.83846194e-02 -2.18565702e-03 9.96920796e-01 -2.24257404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.80629675700004 meters 0.07229432855801404 Centerline is valid? [True, True] Translation: X:189.11, Y:-38.82, Z:-22.43 [[ 8.87034452e-01 4.56386155e-01 6.98681473e-02 1.89108856e+02] [-4.55168140e-01 8.89779140e-01 -3.33923002e-02 -3.88151025e+01] [-7.74070035e-02 -2.18163397e-03 9.96997190e-01 -2.24302539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.836296757 meters 0.0728100558762824 Centerline is valid? [True, True] Translation: X:189.14, Y:-38.83, Z:-22.44 [[ 8.87016725e-01 4.56479879e-01 6.94798544e-02 1.89138635e+02] [-4.55274293e-01 8.89731109e-01 -3.32245590e-02 -3.88257850e+01] [-7.69847306e-02 -2.16165206e-03 9.97029929e-01 -2.24374389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.86629675700001 meters 0.07255540341163332 Centerline is valid? [True, True] Translation: X:189.17, Y:-38.84, Z:-22.44 [[ 8.86732210e-01 4.57186156e-01 6.84602565e-02 1.89166611e+02] [-4.56016166e-01 8.89368376e-01 -3.27589568e-02 -3.88414538e+01] [-7.58633286e-02 -2.17056145e-03 9.97115863e-01 -2.24387635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.89629675700002 meters 0.072671851778866 Centerline is valid? [True, True] Translation: X:189.20, Y:-38.85, Z:-22.44 [[ 8.86201736e-01 4.58107540e-01 6.91662149e-02 1.89196098e+02] [-4.56914506e-01 8.88893918e-01 -3.31170177e-02 -3.88538659e+01] [-7.66525833e-02 -2.25468833e-03 9.97055313e-01 -2.24431028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.92629675700002 meters 0.07263315715773752 Centerline is valid? [True, True] Translation: X:189.22, Y:-38.87, Z:-22.45 [[ 8.85953437e-01 4.58754456e-01 6.80503985e-02 1.89224662e+02] [-4.57599916e-01 8.88560223e-01 -3.26044060e-02 -3.88679236e+01] [-7.54242937e-02 -2.25387110e-03 9.97148984e-01 -2.24459207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95629675700002 meters 0.07321828545670916 Centerline is valid? [True, True] Translation: X:189.26, Y:-38.88, Z:-22.45 [[ 8.84715216e-01 4.60896409e-01 6.96669713e-02 1.89255726e+02] [-4.59691018e-01 8.87450497e-01 -3.34033377e-02 -3.88767077e+01] [-7.72214667e-02 -2.47283983e-03 9.97010898e-01 -2.24518432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98629675700002 meters 0.07356053892930083 Centerline is valid? [True, True] Translation: X:189.29, Y:-38.89, Z:-22.46 [[ 8.83991211e-01 4.62445467e-01 6.85837396e-02 1.89285475e+02] [-4.61280548e-01 8.86644057e-01 -3.29024718e-02 -3.88884239e+01] [-7.60249641e-02 -2.55084906e-03 9.97102652e-01 -2.24558195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01629675700002 meters 0.07427072832831047 Centerline is valid? [True, True] Translation: X:189.32, Y:-38.90, Z:-22.46 [[ 8.82952088e-01 4.64541192e-01 6.78018588e-02 1.89315708e+02] [-4.63408899e-01 8.85547395e-01 -3.25269504e-02 -3.88969506e+01] [-7.51518677e-02 -2.70024600e-03 9.97168444e-01 -2.24610021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04629675700002 meters 0.07379336025614792 Centerline is valid? [True, True] Translation: X:189.34, Y:-38.91, Z:-22.46 [[ 8.82469006e-01 4.65477891e-01 6.76667269e-02 1.89344351e+02] [-4.64351577e-01 8.85055207e-01 -3.24791258e-02 -3.89126179e+01] [-7.50071040e-02 -2.75932951e-03 9.97179182e-01 -2.24620447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07629675700002 meters 0.07427473492987118 Centerline is valid? [True, True] Translation: X:189.37, Y:-38.92, Z:-22.47 [[ 8.82018712e-01 4.66345801e-01 6.75617236e-02 1.89373409e+02] [-4.65223939e-01 8.84598043e-01 -3.24497885e-02 -3.89230264e+01] [-7.48977910e-02 -2.81001051e-03 9.97187257e-01 -2.24667766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10629675700002 meters 0.0737943163875537 Centerline is valid? [True, True] Translation: X:189.40, Y:-38.94, Z:-22.47 [[ 8.82248327e-01 4.65858845e-01 6.79222057e-02 1.89402360e+02] [-4.64721685e-01 8.84854738e-01 -3.26473157e-02 -3.89381056e+01] [-7.53103264e-02 -2.76188227e-03 9.97156320e-01 -2.24688202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.13629675700003 meters 0.073760043029931 Centerline is valid? [True, True] Translation: X:189.43, Y:-38.95, Z:-22.47 [[ 8.81988468e-01 4.66163575e-01 6.91943859e-02 1.89431401e+02] [-4.64984174e-01 8.84693993e-01 -3.32604365e-02 -3.89509898e+01] [-7.67206616e-02 -2.83897299e-03 9.97048585e-01 -2.24722358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.16629675700003 meters 0.07367816182323733 Centerline is valid? [True, True] Translation: X:189.46, Y:-38.96, Z:-22.48 [[ 8.82086258e-01 4.65997823e-01 6.90641845e-02 1.89460706e+02] [-4.64820757e-01 8.84781433e-01 -3.32186564e-02 -3.89639614e+01] [-7.65865297e-02 -2.80074624e-03 9.97059005e-01 -2.24756572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.19629675700003 meters 0.07367684446282001 Centerline is valid? [True, True] Translation: X:189.49, Y:-38.98, Z:-22.48 [[ 8.81532313e-01 4.66894324e-01 7.00747648e-02 1.89489866e+02] [-4.65683661e-01 8.84308357e-01 -3.37262260e-02 -3.89764640e+01] [-7.77142836e-02 -2.90191507e-03 9.96971448e-01 -2.24791712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.22629675700003 meters 0.07384771503567826 Centerline is valid? [True, True] Translation: X:189.52, Y:-38.99, Z:-22.48 [[ 8.81263614e-01 4.67551948e-01 6.90624326e-02 1.89518753e+02] [-4.66376418e-01 8.83960847e-01 -3.32604608e-02 -3.89886963e+01] [-7.65994796e-02 -2.89785608e-03 9.97057733e-01 -2.24832285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.25629675700003 meters 0.07404434783231457 Centerline is valid? [True, True] Translation: X:189.55, Y:-39.00, Z:-22.49 [[ 8.81199365e-01 4.67527219e-01 7.00426955e-02 1.89547126e+02] [-4.66316434e-01 8.83973854e-01 -3.37521594e-02 -3.90018904e+01] [-7.76959647e-02 -2.91967860e-03 9.96972824e-01 -2.24871577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.28629675700003 meters 0.07417411176195436 Centerline is valid? [True, True] Translation: X:189.58, Y:-39.01, Z:-22.49 [[ 8.80972241e-01 4.68056495e-01 6.93615786e-02 1.89575075e+02] [-4.66869153e-01 8.83693726e-01 -3.34453809e-02 -3.90148341e+01] [-7.69487196e-02 -2.91832926e-03 9.97030781e-01 -2.24906144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.31629675700003 meters 0.07475443738056771 Centerline is valid? [True, True] Translation: X:189.60, Y:-39.03, Z:-22.50 [[ 8.80885793e-01 4.68075279e-01 7.03260394e-02 1.89603592e+02] [-4.66853144e-01 8.83683694e-01 -3.39303800e-02 -3.90257451e+01] [-7.80279464e-02 -2.94314288e-03 9.96946828e-01 -2.24963581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.34629675700003 meters 0.07422120807504526 Centerline is valid? [True, True] Translation: X:189.63, Y:-39.04, Z:-22.50 [[ 8.80663440e-01 4.68619594e-01 6.94808034e-02 1.89630926e+02] [-4.67426944e-01 8.83395178e-01 -3.35411979e-02 -3.90423199e+01] [-7.70970692e-02 -2.93869291e-03 9.97019261e-01 -2.24966432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.37629675700003 meters 0.07468982444605077 Centerline is valid? [True, True] Translation: X:189.66, Y:-39.05, Z:-22.50 [[ 8.80690893e-01 4.68588490e-01 6.93424690e-02 1.89660002e+02] [-4.67399103e-01 8.83411759e-01 -3.34924366e-02 -3.90540677e+01] [-7.69521228e-02 -2.91412387e-03 9.97030530e-01 -2.25024452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.40629675700004 meters 0.0746000317699084 Centerline is valid? [True, True] Translation: X:189.69, Y:-39.07, Z:-22.51 [[ 8.81457745e-01 4.67365458e-01 6.78363717e-02 1.89688094e+02] [-4.66221610e-01 8.84060019e-01 -3.27916505e-02 -3.90701165e+01] [-7.52971088e-02 -2.72232819e-03 9.97157427e-01 -2.25063536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.43629675700004 meters 0.07469760722812392 Centerline is valid? [True, True] Translation: X:189.71, Y:-39.09, Z:-22.51 [[ 8.82294763e-01 4.65946186e-01 6.67090927e-02 1.89714776e+02] [-4.64835680e-01 8.84809376e-01 -3.22514859e-02 -3.90874155e+01] [-7.40522876e-02 -2.55344942e-03 9.97251091e-01 -2.25095178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.46629675700004 meters 0.0747315213575534 Centerline is valid? [True, True] Translation: X:189.74, Y:-39.10, Z:-22.51 [[ 8.82706915e-01 4.65257944e-01 6.60571541e-02 1.89742963e+02] [-4.64165764e-01 8.85171746e-01 -3.19550134e-02 -3.91030050e+01] [-7.33392503e-02 -2.45455816e-03 9.97304031e-01 -2.25121823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.49629675700004 meters 0.07427687589644702 Centerline is valid? [True, True] Translation: X:189.77, Y:-39.12, Z:-22.51 [[ 8.83189454e-01 4.64472923e-01 6.51252036e-02 1.89770942e+02] [-4.63407871e-01 8.85584234e-01 -3.15231677e-02 -3.91215897e+01] [-7.23155114e-02 -2.33860275e-03 9.97379064e-01 -2.25136675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.52629675700004 meters 0.07480807724219073 Centerline is valid? [True, True] Translation: X:189.80, Y:-39.13, Z:-22.52 [[ 8.83821890e-01 4.63397326e-01 6.42011345e-02 1.89799881e+02] [-4.62357890e-01 8.86147891e-01 -3.10981841e-02 -3.91337198e+01] [-7.13025153e-02 -2.19864525e-03 9.97452313e-01 -2.25210634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.55629675700004 meters 0.07419939465555818 Centerline is valid? [True, True] Translation: X:189.83, Y:-39.15, Z:-22.52 [[ 8.84173691e-01 4.62775103e-01 6.38442429e-02 1.89826348e+02] [-4.61744116e-01 8.86473190e-01 -3.09459789e-02 -3.91521288e+01] [-7.09172382e-02 -2.11808311e-03 9.97479954e-01 -2.25207771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.586296757 meters 0.0748151765390363 Centerline is valid? [True, True] Translation: X:189.85, Y:-39.16, Z:-22.53 [[ 8.84451969e-01 4.62161745e-01 6.44300852e-02 1.89854440e+02] [-4.61108626e-01 8.86793233e-01 -3.12505551e-02 -3.91643640e+01] [-7.15789747e-02 -2.06965302e-03 9.97432788e-01 -2.25289368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.61629675700001 meters 0.07400537616555458 Centerline is valid? [True, True] Translation: X:189.88, Y:-39.18, Z:-22.53 [[ 8.84816701e-01 4.61288407e-01 6.56689579e-02 1.89881036e+02] [-4.60190593e-01 8.87247948e-01 -3.18700086e-02 -3.91827117e+01] [-7.29659136e-02 -2.02112078e-03 9.97332387e-01 -2.25282913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.64629675700002 meters 0.07374183939173208 Centerline is valid? [True, True] Translation: X:189.91, Y:-39.20, Z:-22.53 [[ 8.86221024e-01 4.58578939e-01 6.57088576e-02 1.89908568e+02] [-4.57470523e-01 8.88651900e-01 -3.19142755e-02 -3.92004962e+01] [-7.30275157e-02 -1.77676354e-03 9.97328344e-01 -2.25301853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.67629675700002 meters 0.07362562046732712 Centerline is valid? [True, True] Translation: X:189.94, Y:-39.22, Z:-22.53 [[ 8.87357349e-01 4.56210116e-01 6.68525651e-02 1.89935843e+02] [-4.55055416e-01 8.89870644e-01 -3.24777731e-02 -3.92164309e+01] [-7.43068237e-02 -1.60223115e-03 9.97234139e-01 -2.25337617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70629675700002 meters 0.07317551558910133 Centerline is valid? [True, True] Translation: X:189.96, Y:-39.23, Z:-22.54 [[ 8.88029316e-01 4.54933457e-01 6.66294478e-02 1.89964038e+02] [-4.53783158e-01 8.90524182e-01 -3.23655171e-02 -3.92325872e+01] [-7.40592910e-02 -1.49379324e-03 9.97252721e-01 -2.25355304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73629675700002 meters 0.07347204353349215 Centerline is valid? [True, True] Translation: X:189.99, Y:-39.25, Z:-22.54 [[ 8.88489008e-01 4.53905466e-01 6.75063777e-02 1.89992253e+02] [-4.52720032e-01 8.91048735e-01 -3.28134759e-02 -3.92460143e+01] [-7.50456885e-02 -1.40707685e-03 9.97179104e-01 -2.25390511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76629675700002 meters 0.07340458671995302 Centerline is valid? [True, True] Translation: X:190.02, Y:-39.26, Z:-22.54 [[ 8.88381456e-01 4.53895254e-01 6.89745371e-02 1.90020884e+02] [-4.52656094e-01 8.91053917e-01 -3.35466475e-02 -3.92600724e+01] [-7.66866956e-02 -1.41952497e-03 9.97054229e-01 -2.25421816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79629675700002 meters 0.07351116289708014 Centerline is valid? [True, True] Translation: X:190.05, Y:-39.27, Z:-22.54 [[ 8.87566907e-01 4.55763593e-01 6.71158188e-02 1.90048635e+02] [-4.54594199e-01 8.90099566e-01 -3.26630871e-02 -3.92741799e+01] [-7.46264071e-02 -1.51978662e-03 9.97210404e-01 -2.25447022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82629675700002 meters 0.07367179496437146 Centerline is valid? [True, True] Translation: X:190.08, Y:-39.29, Z:-22.55 [[ 8.86618360e-01 4.57522886e-01 6.76808204e-02 1.90076523e+02] [-4.56337070e-01 8.89196294e-01 -3.29610400e-02 -3.92863209e+01] [-7.52619648e-02 -1.66140398e-03 9.97162412e-01 -2.25497167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85629675700002 meters 0.07388130585185618 Centerline is valid? [True, True] Translation: X:190.11, Y:-39.30, Z:-22.55 [[ 8.85552805e-01 4.59523807e-01 6.80742230e-02 1.90105467e+02] [-4.58329500e-01 8.88163555e-01 -3.31597417e-02 -3.92986762e+01] [-7.56987346e-02 -1.83572230e-03 9.97129045e-01 -2.25545418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.88629675700003 meters 0.07442498029925261 Centerline is valid? [True, True] Translation: X:190.13, Y:-39.31, Z:-22.56 [[ 8.84444634e-01 4.61797985e-01 6.70843596e-02 1.90134217e+02] [-4.60642887e-01 8.86982923e-01 -3.27020704e-02 -3.93091171e+01] [-7.46044316e-02 -1.97876236e-03 9.97211243e-01 -2.25615324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.91629675700003 meters 0.07401389747614846 Centerline is valid? [True, True] Translation: X:190.16, Y:-39.33, Z:-22.56 [[ 8.83743961e-01 4.63180041e-01 6.67896755e-02 1.90162341e+02] [-4.62038743e-01 8.86261762e-01 -3.25620646e-02 -3.93257892e+01] [-7.42752340e-02 -2.08288976e-03 9.97235605e-01 -2.25622495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.94629675700003 meters 0.0742483135306137 Centerline is valid? [True, True] Translation: X:190.19, Y:-39.34, Z:-22.57 [[ 8.83167133e-01 4.64414792e-01 6.58385649e-02 1.90189608e+02] [-4.63307397e-01 8.85615238e-01 -3.21232814e-02 -3.93393212e+01] [-7.32261633e-02 -2.13326784e-03 9.97313079e-01 -2.25665343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.97629675700003 meters 0.07472079130779113 Centerline is valid? [True, True] Translation: X:190.22, Y:-39.35, Z:-22.57 [[ 8.82912597e-01 4.64828451e-01 6.63314166e-02 1.90217322e+02] [-4.63705125e-01 8.85398083e-01 -3.23696134e-02 -3.93525062e+01] [-7.37760264e-02 -2.17867841e-03 9.97272456e-01 -2.25734551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.00629675700003 meters 0.07472079130779113 Centerline is valid? [True, True] Translation: X:190.25, Y:-39.37, Z:-22.58 [[ 8.82789682e-01 4.65062789e-01 6.63247978e-02 1.90246249e+02] [-4.63939106e-01 8.85275006e-01 -3.23831680e-02 -3.93667387e+01] [-7.37758922e-02 -2.18314082e-03 9.97272456e-01 -2.25770723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.03629675700003 meters 0.07379428365632631 Centerline is valid? [True, True] Translation: X:190.27, Y:-39.39, Z:-22.58 [[ 8.82646504e-01 4.65296154e-01 6.65930781e-02 1.90273184e+02] [-4.64162323e-01 8.85152352e-01 -3.25369270e-02 -3.93851574e+01] [-7.40843267e-02 -2.19139293e-03 9.97249573e-01 -2.25766243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.06629675700003 meters 0.07352668812131953 Centerline is valid? [True, True] Translation: X:190.30, Y:-39.40, Z:-22.58 [[ 8.82560454e-01 4.65305735e-01 6.76580955e-02 1.90300715e+02] [-4.64133725e-01 8.85147273e-01 -3.30785510e-02 -3.93999590e+01] [-7.52790182e-02 -2.20858292e-03 9.97160063e-01 -2.25817118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.09629675700003 meters 0.07355461978396272 Centerline is valid? [True, True] Translation: X:190.33, Y:-39.42, Z:-22.59 [[ 8.83025314e-01 4.64289052e-01 6.85709148e-02 1.90327954e+02] [-4.63080472e-01 8.85681168e-01 -3.35461600e-02 -3.94151604e+01] [-7.63070828e-02 -2.13174315e-03 9.97082085e-01 -2.25864725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.12629675700003 meters 0.0733756609006359 Centerline is valid? [True, True] Translation: X:190.35, Y:-39.43, Z:-22.59 [[ 8.83382525e-01 4.63329416e-01 7.04355488e-02 1.90353858e+02] [-4.62049134e-01 8.86183679e-01 -3.44831016e-02 -3.94301300e+01] [-7.83958691e-02 -2.08291496e-03 9.96920132e-01 -2.25898822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.15629675700004 meters 0.07183409729157698 Centerline is valid? [True, True] Translation: X:190.38, Y:-39.45, Z:-22.59 [[ 8.84693175e-01 4.60592685e-01 7.19191552e-02 1.90377851e+02] [-4.59247766e-01 8.87609649e-01 -3.52221571e-02 -3.94530697e+01] [-8.00592041e-02 -1.86790934e-03 9.96788360e-01 -2.25861861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.18629675700004 meters 0.0717661889666098 Centerline is valid? [True, True] Translation: X:190.40, Y:-39.47, Z:-22.59 [[ 8.85136701e-01 4.59588392e-01 7.28802462e-02 1.90404775e+02] [-4.58202029e-01 8.88130248e-01 -3.57150283e-02 -3.94678972e+01] [-8.11413636e-02 -1.78119443e-03 9.96701012e-01 -2.25905452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.21629675700004 meters 0.07142536607080176 Centerline is valid? [True, True] Translation: X:190.43, Y:-39.49, Z:-22.60 [[ 8.87108134e-01 4.55574551e-01 7.41011947e-02 1.90429961e+02] [-4.54126203e-01 8.90196492e-01 -3.63262543e-02 -3.94850411e+01] [-8.25139406e-02 -1.42597854e-03 9.96588890e-01 -2.25950319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.24629675700004 meters 0.07115365304349688 Centerline is valid? [True, True] Translation: X:190.46, Y:-39.50, Z:-22.60 [[ 8.87876718e-01 4.54032016e-01 7.43630381e-02 1.90456924e+02] [-4.52567051e-01 8.90984454e-01 -3.64659642e-02 -3.95030236e+01] [-8.28130262e-02 -1.27698028e-03 9.96564284e-01 -2.25974271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.27629675700004 meters 0.0709761338174306 Centerline is valid? [True, True] Translation: X:190.48, Y:-39.52, Z:-22.60 [[ 8.89175296e-01 4.51542152e-01 7.40066064e-02 1.90481745e+02] [-4.50080691e-01 8.92249206e-01 -3.63142564e-02 -3.95220940e+01] [-8.24297534e-02 -1.01920484e-03 9.96596356e-01 -2.26012251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.30629675700004 meters 0.07105665319753429 Centerline is valid? [True, True] Translation: X:190.51, Y:-39.54, Z:-22.61 [[ 8.89295157e-01 4.51264559e-01 7.42591429e-02 1.90509056e+02] [-4.49790140e-01 8.92389683e-01 -3.64620927e-02 -3.95368981e+01] [-8.27221432e-02 -9.75467837e-04 9.96572173e-01 -2.26065662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.336296757 meters 0.07109556333022414 Centerline is valid? [True, True] Translation: X:190.54, Y:-39.55, Z:-22.61 [[ 8.88961312e-01 4.51741904e-01 7.53461229e-02 1.90537301e+02] [-4.50224518e-01 8.92148085e-01 -3.70091614e-02 -3.95529539e+01] [-8.39384883e-02 -1.02295918e-03 9.96470413e-01 -2.26097639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.36629675700001 meters 0.07112757381869064 Centerline is valid? [True, True] Translation: X:190.57, Y:-39.57, Z:-22.61 [[ 8.88381161e-01 4.52814455e-01 7.57494721e-02 1.90566578e+02] [-4.51283968e-01 8.91604064e-01 -3.72152237e-02 -3.95670967e+01] [-8.43901284e-02 -1.12321865e-03 9.96432158e-01 -2.26141135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.39629675700002 meters 0.07131497633929156 Centerline is valid? [True, True] Translation: X:190.59, Y:-39.58, Z:-22.62 [[ 8.87690766e-01 4.54180964e-01 7.56621129e-02 1.90594054e+02] [-4.52656644e-01 8.90908607e-01 -3.71996888e-02 -3.95803962e+01] [-8.43034182e-02 -1.22713783e-03 9.96439375e-01 -2.26178997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.42629675700002 meters 0.07175567670965732 Centerline is valid? [True, True] Translation: X:190.62, Y:-39.59, Z:-22.62 [[ 8.85797133e-01 4.57929084e-01 7.52621626e-02 1.90622086e+02] [-4.56432613e-01 8.88987362e-01 -3.70235037e-02 -3.95937734e+01] [-8.38612505e-02 -1.55679205e-03 9.96476225e-01 -2.26221529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.45629675700002 meters 0.07214717254761917 Centerline is valid? [True, True] Translation: X:190.65, Y:-39.61, Z:-22.63 [[ 8.83375671e-01 4.62683948e-01 7.46390508e-02 1.90650666e+02] [-4.61227415e-01 8.86521106e-01 -3.67369094e-02 -3.96072193e+01] [-8.31666721e-02 -1.97308445e-03 9.96533698e-01 -2.26260005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48629675700002 meters 0.0726371257862862 Centerline is valid? [True, True] Translation: X:190.68, Y:-39.62, Z:-22.63 [[ 8.81975926e-01 4.65372982e-01 7.44745216e-02 1.90679168e+02] [-4.63930742e-01 8.85111932e-01 -3.66760754e-02 -3.96188836e+01] [-8.29863422e-02 -2.20360456e-03 9.96548248e-01 -2.26313534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51629675700002 meters 0.07323653818261203 Centerline is valid? [True, True] Translation: X:190.71, Y:-39.63, Z:-22.64 [[ 8.79825833e-01 4.69425199e-01 7.44747372e-02 1.90707586e+02] [-4.67995390e-01 8.82968521e-01 -3.67002226e-02 -3.96324970e+01] [-8.29868579e-02 -2.56402979e-03 9.96547343e-01 -2.26355024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54629675700002 meters 0.07302298756675499 Centerline is valid? [True, True] Translation: X:190.73, Y:-39.65, Z:-22.64 [[ 8.79028754e-01 4.70993789e-01 7.39817648e-02 1.90734808e+02] [-4.69588038e-01 8.82132425e-01 -3.64617539e-02 -3.96488629e+01] [-8.24349732e-02 -2.69002168e-03 9.96592815e-01 -2.26378125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57629675700002 meters 0.07334873646567559 Centerline is valid? [True, True] Translation: X:190.76, Y:-39.66, Z:-22.64 [[ 8.78475939e-01 4.72059533e-01 7.37551420e-02 1.90762737e+02] [-4.70664209e-01 8.81562349e-01 -3.63734390e-02 -3.96627692e+01] [-8.21901849e-02 -2.76071452e-03 9.96612840e-01 -2.26427568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60629675700002 meters 0.07438602922374168 Centerline is valid? [True, True] Translation: X:190.79, Y:-39.68, Z:-22.65 [[ 8.77702355e-01 4.73461167e-01 7.39803976e-02 1.90790447e+02] [-4.72060535e-01 8.80809977e-01 -3.65052931e-02 -3.96758521e+01] [-8.24465110e-02 -2.88244431e-03 9.96591323e-01 -2.26486811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.63629675700003 meters 0.07357341324277517 Centerline is valid? [True, True] Translation: X:190.82, Y:-39.70, Z:-22.65 [[ 8.77776700e-01 4.73132578e-01 7.51906185e-02 1.90816236e+02] [-4.71682469e-01 8.80986540e-01 -3.71263393e-02 -3.96952681e+01] [-8.38076035e-02 -2.87746095e-03 9.96477800e-01 -2.26502162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.66629675700003 meters 0.07340209439984732 Centerline is valid? [True, True] Translation: X:190.84, Y:-39.71, Z:-22.65 [[ 8.77722749e-01 4.73144488e-01 7.57434436e-02 1.90843712e+02] [-4.71670964e-01 8.80980139e-01 -3.74232060e-02 -3.97114138e+01] [-8.44350531e-02 -2.87878380e-03 9.96424826e-01 -2.26537059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.69629675700003 meters 0.07296056642576446 Centerline is valid? [True, True] Translation: X:190.87, Y:-39.73, Z:-22.66 [[ 8.78154271e-01 4.71996324e-01 7.78751940e-02 1.90870036e+02] [-4.70431844e-01 8.81595992e-01 -3.85017834e-02 -3.97294296e+01] [-8.68271591e-02 -2.82446557e-03 9.96219387e-01 -2.26561060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.72629675700003 meters 0.07295914404213372 Centerline is valid? [True, True] Translation: X:190.90, Y:-39.74, Z:-22.66 [[ 8.78259735e-01 4.71677697e-01 7.86129012e-02 1.90896661e+02] [-4.70080104e-01 8.81766587e-01 -3.88893516e-02 -3.97442582e+01] [-8.76614694e-02 -2.79940919e-03 9.96146390e-01 -2.26595881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.75629675700003 meters 0.07254524518113857 Centerline is valid? [True, True] Translation: X:190.92, Y:-39.76, Z:-22.66 [[ 8.77939280e-01 4.72252443e-01 7.87416760e-02 1.90924448e+02] [-4.70650080e-01 8.81458761e-01 -3.89737853e-02 -3.97611255e+01] [-8.78130054e-02 -2.84315912e-03 9.96132919e-01 -2.26616903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.78629675700003 meters 0.07286824856623157 Centerline is valid? [True, True] Translation: X:190.95, Y:-39.78, Z:-22.67 [[ 8.77992772e-01 4.71862640e-01 8.04632947e-02 1.90951563e+02] [-4.70184986e-01 8.81667503e-01 -3.98559001e-02 -3.97758495e+01] [-8.97483824e-02 -2.83944089e-03 9.95960424e-01 -2.26656510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.81629675700003 meters 0.07284994780781141 Centerline is valid? [True, True] Translation: X:190.98, Y:-39.79, Z:-22.67 [[ 8.77679056e-01 4.72375969e-01 8.08728606e-02 1.90980629e+02] [-4.70681144e-01 8.81392432e-01 -4.00829362e-02 -3.97915045e+01] [-9.02149431e-02 -2.88537696e-03 9.95918139e-01 -2.26688663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.84629675700003 meters 0.0728158665691198 Centerline is valid? [True, True] Translation: X:191.01, Y:-39.81, Z:-22.67 [[ 8.77456304e-01 4.72630642e-01 8.17967687e-02 1.91009084e+02] [-4.70895212e-01 8.81255783e-01 -4.05702360e-02 -3.98064988e+01] [-9.12586122e-02 -2.91909736e-03 9.95822948e-01 -2.26723348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.87629675700003 meters 0.07256535973970563 Centerline is valid? [True, True] Translation: X:191.04, Y:-39.82, Z:-22.68 [[ 8.76929756e-01 4.73485138e-01 8.24986440e-02 1.91037690e+02] [-4.71721280e-01 8.80796655e-01 -4.09424791e-02 -3.98225623e+01] [-9.20501850e-02 -3.01268769e-03 9.95749812e-01 -2.26755988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.90629675700004 meters 0.07239618199049008 Centerline is valid? [True, True] Translation: X:191.07, Y:-39.84, Z:-22.68 [[ 8.76230734e-01 4.74791615e-01 8.24173663e-02 1.91065567e+02] [-4.73034242e-01 8.80092714e-01 -4.09319078e-02 -3.98381445e+01] [-9.19690502e-02 -3.12044073e-03 9.95756977e-01 -2.26785882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.93629675700004 meters 0.07297473327908933 Centerline is valid? [True, True] Translation: X:191.09, Y:-39.85, Z:-22.68 [[ 8.75740376e-01 4.75713471e-01 8.23133524e-02 1.91093588e+02] [-4.73962175e-01 8.79594519e-01 -4.09064575e-02 -3.98508538e+01] [-9.18621265e-02 -3.18997907e-03 9.95766626e-01 -2.26827165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.96629675700004 meters 0.07344566561008446 Centerline is valid? [True, True] Translation: X:191.12, Y:-39.86, Z:-22.69 [[ 8.74624190e-01 4.77835267e-01 8.18900707e-02 1.91122371e+02] [-4.76109032e-01 8.78442983e-01 -4.07199646e-02 -3.98646039e+01] [-9.13931931e-02 -3.37393624e-03 9.95809169e-01 -2.26867204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.99629675700004 meters 0.07339946261559592 Centerline is valid? [True, True] Translation: X:191.15, Y:-39.88, Z:-22.69 [[ 8.74192783e-01 4.78760886e-01 8.10863286e-02 1.91150284e+02] [-4.77070551e-01 8.77938681e-01 -4.03405709e-02 -3.98796066e+01] [-9.05023119e-02 -3.41846349e-03 9.95890378e-01 -2.26903055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.02629675700004 meters 0.07405143289032287 Centerline is valid? [True, True] Translation: X:191.18, Y:-39.89, Z:-22.70 [[ 8.73184722e-01 4.80793456e-01 7.99130368e-02 1.91178695e+02] [-4.79158013e-01 8.76826676e-01 -3.97816348e-02 -3.98925520e+01] [-8.91966321e-02 -3.55425624e-03 9.96007695e-01 -2.26964178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.05629675700004 meters 0.07452915999164575 Centerline is valid? [True, True] Translation: X:191.21, Y:-39.91, Z:-22.70 [[ 8.72398916e-01 4.82285451e-01 7.95039274e-02 1.91206848e+02] [-4.80670884e-01 8.76006445e-01 -3.96006276e-02 -3.99052040e+01] [-8.87447593e-02 -3.66767845e-03 9.96047647e-01 -2.27028266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.086296757 meters 0.0749187197111595 Centerline is valid? [True, True] Translation: X:191.23, Y:-39.92, Z:-22.71 [[ 8.71935077e-01 4.83266910e-01 7.86276930e-02 1.91234994e+02] [-4.81689858e-01 8.75465221e-01 -3.91857969e-02 -3.99193767e+01] [-8.77730096e-02 -3.70669141e-03 9.96133605e-01 -2.27075867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.11629675700001 meters 0.07483178246801175 Centerline is valid? [True, True] Translation: X:191.26, Y:-39.94, Z:-22.71 [[ 8.71551528e-01 4.83977635e-01 7.85084880e-02 1.91261542e+02] [-4.82406151e-01 8.75072325e-01 -3.91501103e-02 -3.99367203e+01] [-8.76483830e-02 -3.75163906e-03 9.96144410e-01 -2.27126046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.14629675700002 meters 0.07407736355744132 Centerline is valid? [True, True] Translation: X:191.29, Y:-39.95, Z:-22.72 [[ 8.71618613e-01 4.83834429e-01 7.86462906e-02 1.91288909e+02] [-4.82254665e-01 8.75151638e-01 -3.92434453e-02 -3.99540580e+01] [-8.78147601e-02 -3.72222313e-03 9.96129868e-01 -2.27150815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.17629675700002 meters 0.07463171623418256 Centerline is valid? [True, True] Translation: X:191.32, Y:-39.97, Z:-22.72 [[ 8.71683651e-01 4.83529822e-01 7.97904997e-02 1.91315926e+02] [-4.81900086e-01 8.75319971e-01 -3.98403748e-02 -3.99686991e+01] [-8.91062272e-02 -3.72284525e-03 9.96015171e-01 -2.27192245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20629675700002 meters 0.07456236069849305 Centerline is valid? [True, True] Translation: X:191.34, Y:-39.98, Z:-22.72 [[ 8.71962729e-01 4.82904605e-01 8.05241659e-02 1.91343399e+02] [-4.81239767e-01 8.75665272e-01 -4.02320509e-02 -3.99847176e+01] [-8.99404584e-02 -3.67058194e-03 9.95940380e-01 -2.27219918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23629675700002 meters 0.07404111960874576 Centerline is valid? [True, True] Translation: X:191.37, Y:-40.00, Z:-22.72 [[ 8.72962081e-01 4.80838057e-01 8.20485690e-02 1.91369570e+02] [-4.79097702e-01 8.76802445e-01 -4.10227419e-02 -4.00043458e+01] [-9.16656814e-02 -3.49798263e-03 9.95783695e-01 -2.27239624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26629675700002 meters 0.07379950746193882 Centerline is valid? [True, True] Translation: X:191.40, Y:-40.02, Z:-22.73 [[ 8.73766941e-01 4.79014109e-01 8.41238148e-02 1.91395920e+02] [-4.77175062e-01 8.77800686e-01 -4.20703650e-02 -4.00199967e+01] [-9.39962408e-02 -3.38209244e-03 9.95566807e-01 -2.27267459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29629675700002 meters 0.07309963371092963 Centerline is valid? [True, True] Translation: X:191.42, Y:-40.04, Z:-22.73 [[ 8.75505647e-01 4.75626474e-01 8.52603022e-02 1.91421312e+02] [-4.73719196e-01 8.79642095e-01 -4.26603784e-02 -4.00385752e+01] [-9.52889562e-02 -3.04003957e-03 9.95445013e-01 -2.27285169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32629675700002 meters 0.07276626206388369 Centerline is valid? [True, True] Translation: X:191.45, Y:-40.06, Z:-22.73 [[ 8.76481872e-01 4.73517228e-01 8.69538014e-02 1.91448828e+02] [-4.71520227e-01 8.80779969e-01 -4.35352860e-02 -4.00553295e+01] [-9.72018745e-02 -2.84258729e-03 9.95260627e-01 -2.27311120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35629675700002 meters 0.0719950777525165 Centerline is valid? [True, True] Translation: X:191.47, Y:-40.07, Z:-22.73 [[ 8.78250153e-01 4.70209496e-01 8.70614680e-02 1.91474097e+02] [-4.68190757e-01 8.82551363e-01 -4.35948096e-02 -4.00748480e+01] [-9.73349107e-02 -2.47422640e-03 9.95248609e-01 -2.27337913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.38629675700003 meters 0.07164329037617267 Centerline is valid? [True, True] Translation: X:191.50, Y:-40.09, Z:-22.74 [[ 8.79046707e-01 4.68621412e-01 8.75834413e-02 1.91501294e+02] [-4.66568007e-01 8.83396133e-01 -4.38812783e-02 -4.00908989e+01] [-9.79345800e-02 -2.28993844e-03 9.95190220e-01 -2.27381753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.41629675700003 meters 0.07148153669026512 Centerline is valid? [True, True] Translation: X:191.53, Y:-40.11, Z:-22.74 [[ 8.80460193e-01 4.66120296e-01 8.67278411e-02 1.91528607e+02] [-4.64092230e-01 8.84719162e-01 -4.34788055e-02 -4.01081698e+01] [-9.69961366e-02 -1.96835972e-03 9.95282812e-01 -2.27424524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.44629675700003 meters 0.07121290115546648 Centerline is valid? [True, True] Translation: X:191.56, Y:-40.12, Z:-22.75 [[ 8.81005510e-01 4.65072718e-01 8.68139310e-02 1.91555627e+02] [-4.63032968e-01 8.85270587e-01 -4.35483366e-02 -4.01244349e+01] [-9.71069629e-02 -1.83138757e-03 9.95272266e-01 -2.27464480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.47629675700003 meters 0.07089307004012609 Centerline is valid? [True, True] Translation: X:191.58, Y:-40.14, Z:-22.75 [[ 8.81638871e-01 4.63916730e-01 8.65688657e-02 1.91582028e+02] [-4.61880344e-01 8.85877227e-01 -4.34521198e-02 -4.01412232e+01] [-9.68475520e-02 -1.67537962e-03 9.95297817e-01 -2.27503822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.50629675700003 meters 0.07102321783937496 Centerline is valid? [True, True] Translation: X:191.61, Y:-40.15, Z:-22.75 [[ 8.81521301e-01 4.64207751e-01 8.62053352e-02 1.91609617e+02] [-4.62187358e-01 8.85724760e-01 -4.32954363e-02 -4.01548751e+01] [-9.64522770e-02 -1.67716685e-03 9.95336197e-01 -2.27544413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.53629675700003 meters 0.07119564837155236 Centerline is valid? [True, True] Translation: X:191.64, Y:-40.17, Z:-22.76 [[ 8.80688681e-01 4.66062900e-01 8.46925091e-02 1.91637591e+02] [-4.64120376e-01 8.84749682e-01 -4.25473412e-02 -4.01696924e+01] [-9.47614078e-02 -1.83655736e-03 9.95498319e-01 -2.27582794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.56629675700003 meters 0.07148676211341735 Centerline is valid? [True, True] Translation: X:191.67, Y:-40.18, Z:-22.76 [[ 8.80200356e-01 4.67283067e-01 8.30293216e-02 1.91666199e+02] [-4.65419321e-01 8.84105706e-01 -4.17367558e-02 -4.01837135e+01] [-9.29095763e-02 -1.90674313e-03 9.95672725e-01 -2.27621851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.59629675700003 meters 0.07209185110409087 Centerline is valid? [True, True] Translation: X:191.69, Y:-40.20, Z:-22.77 [[ 8.78882116e-01 4.70003113e-01 8.16290351e-02 1.91693726e+02] [-4.68211174e-01 8.82662177e-01 -4.10582278e-02 -4.01957311e+01] [-9.13483567e-02 -2.13428424e-03 9.95816711e-01 -2.27685760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.62629675700003 meters 0.07241192501017805 Centerline is valid? [True, True] Translation: X:191.72, Y:-40.21, Z:-22.77 [[ 8.78072688e-01 4.71732187e-01 8.03560703e-02 1.91722682e+02] [-4.70001221e-01 8.81738984e-01 -4.04378095e-02 -4.02091972e+01] [-8.99288961e-02 -2.26011503e-03 9.95945624e-01 -2.27739488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.65629675700004 meters 0.07302470117395864 Centerline is valid? [True, True] Translation: X:191.75, Y:-40.22, Z:-22.78 [[ 8.77603691e-01 4.72867619e-01 7.87907129e-02 1.91749678e+02] [-4.71205959e-01 8.81130460e-01 -3.96743960e-02 -4.02223378e+01] [-8.81856342e-02 -2.30825701e-03 9.96101383e-01 -2.27798431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.68629675700004 meters 0.07255435708822938 Centerline is valid? [True, True] Translation: X:191.78, Y:-40.24, Z:-22.78 [[ 8.77683921e-01 4.72898230e-01 7.77058472e-02 1.91776633e+02] [-4.71280779e-01 8.81114144e-01 -3.91445096e-02 -4.02400944e+01] [-8.69790903e-02 -2.26476552e-03 9.96207563e-01 -2.27818597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.71629675700004 meters 0.0731837506874396 Centerline is valid? [True, True] Translation: X:191.80, Y:-40.25, Z:-22.79 [[ 8.78001179e-01 4.72140502e-01 7.87227854e-02 1.91804200e+02] [-4.70475024e-01 8.81520576e-01 -3.96828168e-02 -4.02534199e+01] [-8.81316202e-02 -2.19554439e-03 9.96106419e-01 -2.27874366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.74629675700004 meters 0.07263542050919652 Centerline is valid? [True, True] Translation: X:191.83, Y:-40.27, Z:-22.79 [[ 8.78615415e-01 4.70966195e-01 7.89037093e-02 1.91830954e+02] [-4.69286266e-01 8.82148849e-01 -3.97971053e-02 -4.02716157e+01] [-8.83479075e-02 -2.06207688e-03 9.96087544e-01 -2.27884015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.77629675700004 meters 0.07210898001046713 Centerline is valid? [True, True] Translation: X:191.86, Y:-40.29, Z:-22.79 [[ 8.79808686e-01 4.68659306e-01 7.93418610e-02 1.91857110e+02] [-4.66948717e-01 8.83377133e-01 -4.00466699e-02 -4.02905420e+01] [-8.88570303e-02 -1.81517216e-03 9.96042737e-01 -2.27900943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.80629675700004 meters 0.07227514757850961 Centerline is valid? [True, True] Translation: X:191.88, Y:-40.30, Z:-22.80 [[ 8.80245433e-01 4.67782214e-01 7.96729444e-02 1.91884715e+02] [-4.66053252e-01 8.83842073e-01 -4.02188628e-02 -4.03048402e+01] [-8.92319690e-02 -1.72936453e-03 9.96009370e-01 -2.27960770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.836296757 meters 0.07150434391772123 Centerline is valid? [True, True] Translation: X:191.91, Y:-40.32, Z:-22.80 [[ 8.81118507e-01 4.66051908e-01 8.01610561e-02 1.91911356e+02] [-4.64292237e-01 8.84756036e-01 -4.04904294e-02 -4.03241379e+01] [-8.97936201e-02 -1.54128935e-03 9.95959201e-01 -2.27969886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.86629675700001 meters 0.07137435045635791 Centerline is valid? [True, True] Translation: X:191.94, Y:-40.34, Z:-22.80 [[ 8.81296088e-01 4.65851209e-01 7.93716315e-02 1.91940027e+02] [-4.64123171e-01 8.84861823e-01 -4.01152768e-02 -4.03399125e+01] [-8.89206768e-02 -1.48477683e-03 9.96037604e-01 -2.28008161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.89629675700002 meters 0.07137435045635791 Centerline is valid? [True, True] Translation: X:191.97, Y:-40.35, Z:-22.80 [[ 8.81165200e-01 4.66100674e-01 7.93602611e-02 1.91968689e+02] [-4.64371622e-01 8.84730443e-01 -4.01377565e-02 -4.03545319e+01] [-8.89206743e-02 -1.48465895e-03 9.96037604e-01 -2.28044326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.92629675700002 meters 0.07158900018532591 Centerline is valid? [True, True] Translation: X:192.00, Y:-40.37, Z:-22.81 [[ 8.81253893e-01 4.65897020e-01 7.95709883e-02 1.91996193e+02] [-4.64155275e-01 8.84837775e-01 -4.02739616e-02 -4.03691919e+01] [-8.91709349e-02 -1.44170847e-03 9.96015294e-01 -2.28087604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95629675700002 meters 0.07172990565026756 Centerline is valid? [True, True] Translation: X:192.02, Y:-40.38, Z:-22.81 [[ 8.81546882e-01 4.65427344e-01 7.90726361e-02 1.92024422e+02] [-4.63703583e-01 8.85085036e-01 -4.00433028e-02 -4.03840272e+01] [-8.86232551e-02 -1.36621595e-03 9.96064281e-01 -2.28131527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98629675700002 meters 0.0721047736739579 Centerline is valid? [True, True] Translation: X:192.05, Y:-40.40, Z:-22.82 [[ 8.82074959e-01 4.64640258e-01 7.78023012e-02 1.92052450e+02] [-4.62966270e-01 8.85498664e-01 -3.94252319e-02 -4.04000734e+01] [-8.72123837e-02 -1.24383137e-03 9.96188965e-01 -2.28160760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01629675700002 meters 0.07217326292321499 Centerline is valid? [True, True] Translation: X:192.08, Y:-40.41, Z:-22.82 [[ 8.82615119e-01 4.63544504e-01 7.82115371e-02 1.92079603e+02] [-4.61846385e-01 8.86072931e-01 -3.96569979e-02 -4.04143845e+01] [-8.76839093e-02 -1.11984974e-03 9.96147719e-01 -2.28206064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04629675700002 meters 0.07220756354241441 Centerline is valid? [True, True] Translation: X:192.11, Y:-40.43, Z:-22.82 [[ 8.82960561e-01 4.62839275e-01 7.84885545e-02 1.92107357e+02] [-4.61124380e-01 8.86441615e-01 -3.98192152e-02 -4.04309180e+01] [-8.80054177e-02 -1.03418941e-03 9.96119459e-01 -2.28235490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07629675700002 meters 0.0721797824292523 Centerline is valid? [True, True] Translation: X:192.14, Y:-40.45, Z:-22.83 [[ 8.82933363e-01 4.62864036e-01 7.86483305e-02 1.92136118e+02] [-4.61140199e-01 8.86428704e-01 -3.99233008e-02 -4.04462619e+01] [-8.81951978e-02 -1.01829250e-03 9.96102691e-01 -2.28266812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10629675700002 meters 0.07228866638569427 Centerline is valid? [True, True] Translation: X:192.16, Y:-40.46, Z:-22.83 [[ 8.82958304e-01 4.63055519e-01 7.72283660e-02 1.92164057e+02] [-4.61391845e-01 8.86328719e-01 -3.92296812e-02 -4.04614122e+01] [-8.66152391e-02 -9.94365458e-04 9.96241342e-01 -2.28294829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.13629675700003 meters 0.07247124500124133 Centerline is valid? [True, True] Translation: X:192.19, Y:-40.48, Z:-22.83 [[ 8.83011359e-01 4.63049255e-01 7.66572054e-02 1.92192216e+02] [-4.61408078e-01 8.86332023e-01 -3.89631914e-02 -4.04755396e+01] [-8.59856127e-02 -9.65313208e-04 9.96295911e-01 -2.28342321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.16629675700003 meters 0.0729641913263877 Centerline is valid? [True, True] Translation: X:192.22, Y:-40.49, Z:-22.84 [[ 8.82402214e-01 4.64443658e-01 7.52224791e-02 1.92220346e+02] [-4.62866533e-01 8.85602036e-01 -3.82571163e-02 -4.04881755e+01] [-8.43854557e-02 -1.05980396e-03 9.96432623e-01 -2.28403983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.19629675700003 meters 0.07353789161727878 Centerline is valid? [True, True] Translation: X:192.25, Y:-40.50, Z:-22.85 [[ 8.81571916e-01 4.66142198e-01 7.44473485e-02 1.92249402e+02] [-4.64601791e-01 8.84709010e-01 -3.78832900e-02 -4.05011703e+01] [-8.35232400e-02 -1.19152691e-03 9.96505117e-01 -2.28455834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.22629675700003 meters 0.07367384930027555 Centerline is valid? [True, True] Translation: X:192.28, Y:-40.51, Z:-22.85 [[ 8.81099111e-01 4.67069471e-01 7.42325157e-02 1.92277237e+02] [-4.65539085e-01 8.84219735e-01 -3.77997375e-02 -4.05144185e+01] [-8.32929588e-02 -1.25282233e-03 9.96524317e-01 -2.28497258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.25629675700003 meters 0.073929705443097 Centerline is valid? [True, True] Translation: X:192.31, Y:-40.53, Z:-22.85 [[ 8.80305020e-01 4.68536056e-01 7.44112687e-02 1.92306096e+02] [-4.67002750e-01 8.83443287e-01 -3.78997459e-02 -4.05284706e+01] [-8.34955332e-02 -1.38693055e-03 9.96507186e-01 -2.28532166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.28629675700003 meters 0.073956321313472 Centerline is valid? [True, True] Translation: X:192.34, Y:-40.54, Z:-22.86 [[ 8.79595280e-01 4.69764990e-01 7.50532959e-02 1.92335758e+02] [-4.68207681e-01 8.82790243e-01 -3.82485913e-02 -4.05429117e+01] [-8.42241663e-02 -1.49724924e-03 9.96445708e-01 -2.28571847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.31629675700003 meters 0.07406762671353423 Centerline is valid? [True, True] Translation: X:192.37, Y:-40.56, Z:-22.86 [[ 8.78830896e-01 4.71068242e-01 7.58351351e-02 1.92365180e+02] [-4.69480847e-01 8.82095290e-01 -3.86734284e-02 -4.05577014e+01] [-8.51116395e-02 -1.61573969e-03 9.96370111e-01 -2.28608201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.34629675700003 meters 0.07406766350307778 Centerline is valid? [True, True] Translation: X:192.39, Y:-40.57, Z:-22.86 [[ 8.78243265e-01 4.72099186e-01 7.62307395e-02 1.92393897e+02] [-4.70496752e-01 8.81543796e-01 -3.89016870e-02 -4.05723579e+01] [-8.55661902e-02 -1.70117074e-03 9.96331036e-01 -2.28643235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.37629675700003 meters 0.07422235812011237 Centerline is valid? [True, True] Translation: X:192.42, Y:-40.59, Z:-22.87 [[ 8.77606506e-01 4.73296870e-01 7.61373375e-02 1.92421738e+02] [-4.71700421e-01 8.80901167e-01 -3.88824588e-02 -4.05852986e+01] [-8.54724156e-02 -1.79051542e-03 9.96338928e-01 -2.28689352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.40629675700004 meters 0.07465568166982686 Centerline is valid? [True, True] Translation: X:192.45, Y:-40.60, Z:-22.87 [[ 8.77296131e-01 4.74000081e-01 7.53353986e-02 1.92449746e+02] [-4.72437917e-01 8.80522918e-01 -3.84942208e-02 -4.05981094e+01] [-8.45808087e-02 -1.82046783e-03 9.96414960e-01 -2.28730414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.43629675700004 meters 0.07480986311389655 Centerline is valid? [True, True] Translation: X:192.48, Y:-40.61, Z:-22.88 [[ 8.76863303e-01 4.74930542e-01 7.45099222e-02 1.92478292e+02] [-4.73404142e-01 8.80021294e-01 -3.80925265e-02 -4.06125761e+01] [-8.36616224e-02 -1.87136717e-03 9.96492464e-01 -2.28768666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.46629675700004 meters 0.07526454116209376 Centerline is valid? [True, True] Translation: X:192.51, Y:-40.62, Z:-22.88 [[ 8.76070407e-01 4.76652075e-01 7.28247224e-02 1.92505781e+02] [-4.75197882e-01 8.79089831e-01 -3.72564407e-02 -4.06247445e+01] [-8.17778327e-02 -1.96688866e-03 9.96648643e-01 -2.28832449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.49629675700004 meters 0.07518536598488998 Centerline is valid? [True, True] Translation: X:192.53, Y:-40.64, Z:-22.89 [[ 8.75174458e-01 4.78350825e-01 7.24579678e-02 1.92534639e+02] [-4.76916518e-01 8.78166295e-01 -3.70755145e-02 -4.06383760e+01] [-8.13652480e-02 -2.10885848e-03 9.96682120e-01 -2.28869954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.52629675700004 meters 0.07514788470979711 Centerline is valid? [True, True] Translation: X:192.56, Y:-40.65, Z:-22.89 [[ 8.75041702e-01 4.78549860e-01 7.27464902e-02 1.92563008e+02] [-4.77102912e-01 8.78057831e-01 -3.72458867e-02 -4.06520914e+01] [-8.16996392e-02 -2.11585827e-03 9.96654751e-01 -2.28910066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.55629675700004 meters 0.07524601919195631 Centerline is valid? [True, True] Translation: X:192.59, Y:-40.67, Z:-22.89 [[ 8.74297768e-01 4.79736058e-01 7.38696662e-02 1.92592492e+02] [-4.78246381e-01 8.77409989e-01 -3.78432226e-02 -4.06661599e+01] [-8.29687415e-02 -2.24165546e-03 9.96549629e-01 -2.28937028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.586296757 meters 0.07485475088294145 Centerline is valid? [True, True] Translation: X:192.62, Y:-40.68, Z:-22.89 [[ 8.74273801e-01 4.79665284e-01 7.46092202e-02 1.92620280e+02] [-4.78142981e-01 8.77448705e-01 -3.82499747e-02 -4.06824341e+01] [-8.38129486e-02 -2.23292411e-03 9.96479003e-01 -2.28948402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.61629675700001 meters 0.07521046755060312 Centerline is valid? [True, True] Translation: X:192.65, Y:-40.70, Z:-22.90 [[ 8.74082881e-01 4.79745499e-01 7.63110325e-02 1.92648917e+02] [-4.78150961e-01 8.77404755e-01 -3.91478454e-02 -4.06953278e+01] [-8.57366654e-02 -2.26973208e-03 9.96315248e-01 -2.28987841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.64629675700002 meters 0.07517698972660904 Centerline is valid? [True, True] Translation: X:192.68, Y:-40.71, Z:-22.90 [[ 8.73640443e-01 4.80261627e-01 7.81098366e-02 1.92677608e+02] [-4.78590655e-01 8.77122133e-01 -4.00967517e-02 -4.07090211e+01] [-8.77687977e-02 -2.35249394e-03 9.96138095e-01 -2.29012715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.67629675700002 meters 0.07530817654301813 Centerline is valid? [True, True] Translation: X:192.71, Y:-40.72, Z:-22.91 [[ 8.73260760e-01 4.80935238e-01 7.82108820e-02 1.92706809e+02] [-4.79260572e-01 8.76752829e-01 -4.01718878e-02 -4.07221067e+01] [-8.78916885e-02 -2.40285873e-03 9.96127139e-01 -2.29059320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70629675700002 meters 0.07493302345559044 Centerline is valid? [True, True] Translation: X:192.73, Y:-40.74, Z:-22.91 [[ 8.72727468e-01 4.82001983e-01 7.75941716e-02 1.92734513e+02] [-4.80355656e-01 8.76166649e-01 -3.98804035e-02 -4.07373127e+01] [-8.72078589e-02 -2.46807566e-03 9.96187080e-01 -2.29082101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73629675700002 meters 0.07534486168237525 Centerline is valid? [True, True] Translation: X:192.76, Y:-40.75, Z:-22.91 [[ 8.71600934e-01 4.84093447e-01 7.72356545e-02 1.92763518e+02] [-4.82468548e-01 8.75012308e-01 -3.97185379e-02 -4.07491095e+01] [-8.68096322e-02 -2.64505932e-03 9.96221407e-01 -2.29128943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76629675700002 meters 0.07570998867792175 Centerline is valid? [True, True] Translation: X:192.79, Y:-40.76, Z:-22.92 [[ 8.70959073e-01 4.85277660e-01 7.70446938e-02 1.92792347e+02] [-4.83663476e-01 8.74355822e-01 -3.96426361e-02 -4.07621997e+01] [-8.66021623e-02 -2.73659080e-03 9.96239217e-01 -2.29163833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79629675700002 meters 0.07637587509526149 Centerline is valid? [True, True] Translation: X:192.82, Y:-40.77, Z:-22.92 [[ 8.70669833e-01 4.86006666e-01 7.57070848e-02 1.92821086e+02] [-4.84448817e-01 8.73950811e-01 -3.89785103e-02 -4.07743560e+01] [-8.51080840e-02 -2.73879458e-03 9.96367961e-01 -2.29210548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82629675700002 meters 0.07713019326673679 Centerline is valid? [True, True] Translation: X:192.85, Y:-40.79, Z:-22.93 [[ 8.70488850e-01 4.86319713e-01 7.57779627e-02 1.92850029e+02] [-4.84758295e-01 8.73776606e-01 -3.90363878e-02 -4.07865021e+01] [-8.51971759e-02 -2.75325560e-03 9.96360307e-01 -2.29269449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85629675700002 meters 0.07687260587183804 Centerline is valid? [True, True] Translation: X:192.88, Y:-40.80, Z:-22.93 [[ 8.70703181e-01 4.85947073e-01 7.57060999e-02 1.92877241e+02] [-4.84385030e-01 8.73984094e-01 -3.90249406e-02 -4.08031763e+01] [-8.51299828e-02 -2.69176153e-03 9.96366218e-01 -2.29298869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.88629675700003 meters 0.07561986572793668 Centerline is valid? [True, True] Translation: X:192.90, Y:-40.82, Z:-22.93 [[ 8.71064084e-01 4.85150982e-01 7.66543272e-02 1.92904279e+02] [-4.83544412e-01 8.74426456e-01 -3.95370172e-02 -4.08211848e+01] [-8.62099944e-02 -2.62649591e-03 9.96273526e-01 -2.29315331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.91629675700003 meters 0.07551370849269749 Centerline is valid? [True, True] Translation: X:192.93, Y:-40.84, Z:-22.93 [[ 8.71128432e-01 4.85026080e-01 7.67134769e-02 1.92932284e+02] [-4.83414448e-01 8.74495836e-01 -3.95917115e-02 -4.08367309e+01] [-8.62886288e-02 -2.59493753e-03 9.96266801e-01 -2.29344088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.94629675700003 meters 0.07488718786588647 Centerline is valid? [True, True] Translation: X:192.96, Y:-40.85, Z:-22.94 [[ 8.71835038e-01 4.83662018e-01 7.72963100e-02 1.92959177e+02] [-4.82018229e-01 8.75251402e-01 -3.99175362e-02 -4.08533036e+01] [-8.69602998e-02 -2.45672381e-03 9.96208749e-01 -2.29380193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.97629675700003 meters 0.0749481107000947 Centerline is valid? [True, True] Translation: X:192.99, Y:-40.87, Z:-22.94 [[ 8.71718344e-01 4.84019660e-01 7.63681720e-02 1.92986452e+02] [-4.82414370e-01 8.75053721e-01 -3.94634114e-02 -4.08669545e+01] [-8.59273201e-02 -2.44012400e-03 9.96298420e-01 -2.29427154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.00629675700003 meters 0.07515901738988683 Centerline is valid? [True, True] Translation: X:193.01, Y:-40.88, Z:-22.95 [[ 8.71864771e-01 4.83761789e-01 7.63305539e-02 1.93014977e+02] [-4.82155160e-01 8.75196436e-01 -3.94664415e-02 -4.08810227e+01] [-8.58965851e-02 -2.39377052e-03 9.96301183e-01 -2.29469573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.03629675700003 meters 0.07518937177871991 Centerline is valid? [True, True] Translation: X:193.04, Y:-40.90, Z:-22.95 [[ 8.71812130e-01 4.83895934e-01 7.60811105e-02 1.93043910e+02] [-4.82298338e-01 8.75122315e-01 -3.93604723e-02 -4.08962783e+01] [-8.56266500e-02 -2.37885602e-03 9.96324454e-01 -2.29506890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.06629675700003 meters 0.07529904276279442 Centerline is valid? [True, True] Translation: X:193.07, Y:-40.91, Z:-22.95 [[ 8.71836981e-01 4.83779896e-01 7.65329374e-02 1.93072233e+02] [-4.82160286e-01 8.75186529e-01 -3.96232002e-02 -4.09101657e+01] [-8.61495035e-02 -2.35617180e-03 9.96279434e-01 -2.29541237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.09629675700003 meters 0.07537120747793698 Centerline is valid? [True, True] Translation: X:193.10, Y:-40.92, Z:-22.96 [[ 8.71086240e-01 4.85188168e-01 7.61656292e-02 1.93100463e+02] [-4.83587426e-01 8.74406300e-01 -3.94566194e-02 -4.09249942e+01] [-8.57435909e-02 -2.46262237e-03 9.96314193e-01 -2.29567485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.12629675700003 meters 0.07578059918982631 Centerline is valid? [True, True] Translation: X:193.13, Y:-40.94, Z:-22.96 [[ 8.70371845e-01 4.86363479e-01 7.68337012e-02 1.93128751e+02] [-4.84736604e-01 8.73752784e-01 -3.98308454e-02 -4.09366093e+01] [-8.65059289e-02 -2.57646105e-03 9.96248004e-01 -2.29598989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.15629675700004 meters 0.07605319601217227 Centerline is valid? [True, True] Translation: X:193.16, Y:-40.95, Z:-22.96 [[ 8.69629263e-01 4.87689638e-01 7.68359409e-02 1.93158169e+02] [-4.86067064e-01 8.73012900e-01 -3.98407547e-02 -4.09492635e+01] [-8.65086908e-02 -2.70073409e-03 9.96247435e-01 -2.29640038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.18629675700004 meters 0.07638022899099577 Centerline is valid? [True, True] Translation: X:193.19, Y:-40.96, Z:-22.97 [[ 8.68675323e-01 4.89517085e-01 7.60013589e-02 1.93186893e+02] [-4.87934575e-01 8.71989112e-01 -3.94314535e-02 -4.09624412e+01] [-8.55747277e-02 -2.83056008e-03 9.96327734e-01 -2.29673415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.21629675700004 meters 0.07739775404211256 Centerline is valid? [True, True] Translation: X:193.22, Y:-40.97, Z:-22.97 [[ 8.67320771e-01 4.92098497e-01 7.47913679e-02 1.93217543e+02] [-4.90573595e-01 8.70534307e-01 -3.88274184e-02 -4.09727873e+01] [-8.42153659e-02 -3.01484376e-03 9.96443015e-01 -2.29720898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.24629675700004 meters 0.07903425823650657 Centerline is valid? [True, True] Translation: X:193.25, Y:-40.98, Z:-22.98 [[ 8.66051758e-01 4.94519047e-01 7.35205098e-02 1.93247159e+02] [-4.93052311e-01 8.69160997e-01 -3.81913444e-02 -4.09806981e+01] [-8.27875068e-02 -3.17377639e-03 9.96562169e-01 -2.29782586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.27629675700004 meters 0.07850125339311519 Centerline is valid? [True, True] Translation: X:193.27, Y:-41.00, Z:-22.98 [[ 8.65711546e-01 4.95155932e-01 7.32401631e-02 1.93274930e+02] [-4.93701056e-01 8.68798209e-01 -3.80649338e-02 -4.09960545e+01] [-8.24790003e-02 -3.20549314e-03 9.96587648e-01 -2.29805276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.30629675700004 meters 0.07934339945637536 Centerline is valid? [True, True] Translation: X:193.30, Y:-41.01, Z:-22.99 [[ 8.65992341e-01 4.94662416e-01 7.32554447e-02 1.93303604e+02] [-4.93203197e-01 8.69079539e-01 -3.80967336e-02 -4.10075212e+01] [-8.25098304e-02 -3.13834001e-03 9.96585309e-01 -2.29859899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.336296757 meters 0.07840555377847992 Centerline is valid? [True, True] Translation: X:193.33, Y:-41.02, Z:-22.99 [[ 8.66379791e-01 4.93995180e-01 7.31766377e-02 1.93330488e+02] [-4.92535039e-01 8.69459279e-01 -3.80762198e-02 -4.10247874e+01] [-8.24335757e-02 -3.05359071e-03 9.96591883e-01 -2.29866813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.36629675700001 meters 0.0777949039439565 Centerline is valid? [True, True] Translation: X:193.36, Y:-41.04, Z:-22.99 [[ 8.67680502e-01 4.91718010e-01 7.31022898e-02 1.93357808e+02] [-4.90250869e-01 8.70749953e-01 -3.80605480e-02 -4.10411942e+01] [-8.23688723e-02 -2.81406569e-03 9.96597938e-01 -2.29899894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.39629675700002 meters 0.07709652013706778 Centerline is valid? [True, True] Translation: X:193.39, Y:-41.06, Z:-22.99 [[ 8.68494795e-01 4.90176715e-01 7.37806218e-02 1.93385515e+02] [-4.88674806e-01 8.71618976e-01 -3.84355767e-02 -4.10571603e+01] [-8.31488147e-02 -2.67363277e-03 9.96533555e-01 -2.29923963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42629675700002 meters 0.07656702008871168 Centerline is valid? [True, True] Translation: X:193.41, Y:-41.07, Z:-23.00 [[ 8.69813674e-01 4.87702589e-01 7.46348280e-02 1.93413834e+02] [-4.86154144e-01 8.73006431e-01 -3.89091209e-02 -4.10724358e+01] [-8.41327639e-02 -2.44034550e-03 9.96451566e-01 -2.29953032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45629675700002 meters 0.07655383987877758 Centerline is valid? [True, True] Translation: X:193.44, Y:-41.09, Z:-23.00 [[ 8.70632491e-01 4.86048678e-01 7.58666439e-02 1.93440986e+02] [-4.84442091e-01 8.73928670e-01 -3.95542786e-02 -4.10859240e+01] [-8.55273400e-02 -2.31575552e-03 9.96333133e-01 -2.29997226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48629675700002 meters 0.07544614952093376 Centerline is valid? [True, True] Translation: X:193.47, Y:-41.10, Z:-23.00 [[ 8.71935620e-01 4.83686987e-01 7.59945629e-02 1.93467998e+02] [-4.82064260e-01 8.75238605e-01 -3.96413151e-02 -4.11036006e+01] [-8.56873635e-02 -2.06958809e-03 9.96319925e-01 -2.30010163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51629675700002 meters 0.07517612610248574 Centerline is valid? [True, True] Translation: X:193.50, Y:-41.12, Z:-23.00 [[ 8.72479514e-01 4.82545867e-01 7.69998938e-02 1.93495890e+02] [-4.80873330e-01 8.75868503e-01 -4.01896263e-02 -4.11197506e+01] [-8.68351198e-02 -1.96256977e-03 9.96220764e-01 -2.30035256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54629675700002 meters 0.07476656975063878 Centerline is valid? [True, True] Translation: X:193.52, Y:-41.14, Z:-23.01 [[ 8.72880382e-01 4.81821592e-01 7.69921528e-02 1.93523616e+02] [-4.80144536e-01 8.76267344e-01 -4.02090391e-02 -4.11359953e+01] [-8.68392924e-02 -1.86968011e-03 9.96220579e-01 -2.30051265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57629675700002 meters 0.07453835079237411 Centerline is valid? [True, True] Translation: X:193.55, Y:-41.15, Z:-23.01 [[ 8.73333401e-01 4.81027224e-01 7.68217473e-02 1.93551706e+02] [-4.79352373e-01 8.76703881e-01 -4.01448247e-02 -4.11489843e+01] [-8.66606776e-02 -1.76487057e-03 9.96236323e-01 -2.30080557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60629675700002 meters 0.07441805761692104 Centerline is valid? [True, True] Translation: X:193.58, Y:-41.16, Z:-23.01 [[ 8.73158265e-01 4.81343227e-01 7.68332119e-02 1.93580868e+02] [-4.79667294e-01 8.76530396e-01 -4.01715206e-02 -4.11639282e+01] [-8.66829350e-02 -1.77828365e-03 9.96234363e-01 -2.30097065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.63629675700003 meters 0.07463361039097421 Centerline is valid? [True, True] Translation: X:193.61, Y:-41.18, Z:-23.01 [[ 8.72565833e-01 4.82712495e-01 7.49500778e-02 1.93610358e+02] [-4.81120550e-01 8.75776941e-01 -3.92143584e-02 -4.11760428e+01] [-8.45688106e-02 -1.84291330e-03 9.96415937e-01 -2.30113560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.66629675700003 meters 0.07498728873426493 Centerline is valid? [True, True] Translation: X:193.64, Y:-41.19, Z:-23.02 [[ 8.71516624e-01 4.84764720e-01 7.39049399e-02 1.93639671e+02] [-4.83222283e-01 8.74642325e-01 -3.86914455e-02 -4.11866447e+01] [-8.33966362e-02 -1.99227583e-03 9.96514441e-01 -2.30170908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.69629675700003 meters 0.07516887123624433 Centerline is valid? [True, True] Translation: X:193.67, Y:-41.20, Z:-23.02 [[ 8.70899938e-01 4.86007368e-01 7.30077878e-02 1.93668803e+02] [-4.84504850e-01 8.73952267e-01 -3.82424548e-02 -4.11998398e+01] [-8.23914364e-02 -2.06727580e-03 9.96597902e-01 -2.30216941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.72629675700003 meters 0.07538577548254531 Centerline is valid? [True, True] Translation: X:193.70, Y:-41.21, Z:-23.03 [[ 8.69779973e-01 4.88424603e-01 7.01726827e-02 1.93698670e+02] [-4.87042829e-01 8.72603358e-01 -3.67785536e-02 -4.12104067e+01] [-7.91964690e-02 -2.18785262e-03 9.96856626e-01 -2.30278042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.75629675700003 meters 0.07572862082244443 Centerline is valid? [True, True] Translation: X:193.73, Y:-41.22, Z:-23.03 [[ 8.69066198e-01 4.89958117e-01 6.83007115e-02 1.93727752e+02] [-4.88652262e-01 8.71743079e-01 -3.58185844e-02 -4.12231824e+01] [-7.70902787e-02 -2.24657616e-03 9.97021585e-01 -2.30326148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.78629675700003 meters 0.07602491478989254 Centerline is valid? [True, True] Translation: X:193.76, Y:-41.24, Z:-23.04 [[ 8.68230335e-01 4.91812088e-01 6.55511650e-02 1.93757120e+02] [-4.90613697e-01 8.70698323e-01 -3.43894102e-02 -4.12350725e+01] [-7.39884171e-02 -2.30237032e-03 9.97256443e-01 -2.30358345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.81629675700003 meters 0.07602491478989254 Centerline is valid? [True, True] Translation: X:193.79, Y:-41.25, Z:-23.04 [[ 8.68093482e-01 4.92054528e-01 6.55442479e-02 1.93785591e+02] [-4.90855832e-01 8.70561321e-01 -3.44025874e-02 -4.12501455e+01] [-7.39882360e-02 -2.30811447e-03 9.97256443e-01 -2.30394509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.84629675700003 meters 0.07632941985749502 Centerline is valid? [True, True] Translation: X:193.81, Y:-41.26, Z:-23.04 [[ 8.67820894e-01 4.92666623e-01 6.45483829e-02 1.93813941e+02] [-4.91504049e-01 8.70215085e-01 -3.39039242e-02 -4.12640114e+01] [-7.28743084e-02 -2.30325779e-03 9.97338473e-01 -2.30432532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.87629675700003 meters 0.07621355898181977 Centerline is valid? [True, True] Translation: X:193.84, Y:-41.28, Z:-23.05 [[ 8.68444379e-01 4.91664714e-01 6.37978797e-02 1.93840954e+02] [-4.90524893e-01 8.70781876e-01 -3.35298922e-02 -4.12787556e+01] [-7.20395023e-02 -2.17560169e-03 9.97399407e-01 -2.30464779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.90629675700004 meters 0.07643923363049293 Centerline is valid? [True, True] Translation: X:193.87, Y:-41.29, Z:-23.05 [[ 8.68890163e-01 4.90900905e-01 6.36096365e-02 1.93868004e+02] [-4.89764508e-01 8.71212908e-01 -3.34484160e-02 -4.12921350e+01] [-7.18373941e-02 -2.09074266e-03 9.97414166e-01 -2.30520774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.93629675700004 meters 0.07501207927196807 Centerline is valid? [True, True] Translation: X:193.89, Y:-41.31, Z:-23.05 [[ 8.69882480e-01 4.89137497e-01 6.36315916e-02 1.93893914e+02] [-4.87994243e-01 8.72204556e-01 -3.34788228e-02 -4.13130316e+01] [-7.18755117e-02 -1.92920900e-03 9.97411745e-01 -2.30493356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.96629675700004 meters 0.07440661082999184 Centerline is valid? [True, True] Translation: X:193.92, Y:-41.33, Z:-23.05 [[ 8.70859719e-01 4.87263091e-01 6.46376831e-02 1.93920238e+02] [-4.86076507e-01 8.73253401e-01 -3.40312500e-02 -4.13291994e+01] [-7.30272487e-02 -1.78241443e-03 9.97328353e-01 -2.30510464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.99629675700004 meters 0.07391923085792326 Centerline is valid? [True, True] Translation: X:193.95, Y:-41.35, Z:-23.05 [[ 8.72748156e-01 4.83835613e-01 6.49134428e-02 1.93946228e+02] [-4.82628005e-01 8.75157639e-01 -3.41952454e-02 -4.13455929e+01] [-7.33543729e-02 -1.48520801e-03 9.97304833e-01 -2.30537104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.02629675700004 meters 0.07363671472789995 Centerline is valid? [True, True] Translation: X:193.97, Y:-41.36, Z:-23.06 [[ 8.73421451e-01 4.82442256e-01 6.62150913e-02 1.93973738e+02] [-4.81180384e-01 8.75926688e-01 -3.48980704e-02 -4.13614759e+01] [-7.48358695e-02 -1.38067979e-03 9.97194909e-01 -2.30567837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.05629675700004 meters 0.07324188376372677 Centerline is valid? [True, True] Translation: X:194.00, Y:-41.38, Z:-23.06 [[ 8.74298166e-01 4.80728645e-01 6.71020612e-02 1.94000335e+02] [-4.79425796e-01 8.76868553e-01 -3.53899213e-02 -4.13776275e+01] [-7.58526362e-02 -1.22911576e-03 9.97118281e-01 -2.30592393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.086296757 meters 0.07311754912719334 Centerline is valid? [True, True] Translation: X:194.03, Y:-41.39, Z:-23.06 [[ 8.74559420e-01 4.80153811e-01 6.78095824e-02 1.94027725e+02] [-4.78820900e-01 8.77183513e-01 -3.57719165e-02 -4.13924916e+01] [-7.66574697e-02 -1.18397875e-03 9.97056784e-01 -2.30627259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.11629675700001 meters 0.07288653873029263 Centerline is valid? [True, True] Translation: X:194.06, Y:-41.41, Z:-23.07 [[ 8.74671857e-01 4.79911821e-01 6.80719246e-02 1.94055340e+02] [-4.78566406e-01 8.77315975e-01 -3.59287669e-02 -4.14083186e+01] [-7.69632268e-02 -1.15105503e-03 9.97033268e-01 -2.30653264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.14629675700002 meters 0.0726592269062028 Centerline is valid? [True, True] Translation: X:194.08, Y:-41.42, Z:-23.07 [[ 8.74875206e-01 4.79498324e-01 6.83720053e-02 1.94083290e+02] [-4.78138115e-01 8.77542104e-01 -3.61081563e-02 -4.14235953e+01] [-7.73131138e-02 -1.10113104e-03 9.97006254e-01 -2.30674177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17629675700002 meters 0.07273581284944379 Centerline is valid? [True, True] Translation: X:194.11, Y:-41.44, Z:-23.07 [[ 8.74604844e-01 4.79966803e-01 6.85436714e-02 1.94112303e+02] [-4.78599639e-01 8.77285926e-01 -3.62186419e-02 -4.14387006e+01] [-7.75161440e-02 -1.12797672e-03 9.96990459e-01 -2.30703182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20629675700002 meters 0.07280823443768644 Centerline is valid? [True, True] Translation: X:194.14, Y:-41.45, Z:-23.08 [[ 8.74179624e-01 4.80727899e-01 6.86343333e-02 1.94141917e+02] [-4.79357533e-01 8.76869035e-01 -3.62911934e-02 -4.14528999e+01] [-7.76295108e-02 -1.17536291e-03 9.96981583e-01 -2.30751065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23629675700002 meters 0.07313735734612845 Centerline is valid? [True, True] Translation: X:194.17, Y:-41.47, Z:-23.08 [[ 8.73264912e-01 4.82484591e-01 6.79486086e-02 1.94170742e+02] [-4.81144885e-01 8.75903499e-01 -3.59535778e-02 -4.14658148e+01] [-7.68634713e-02 -1.29612751e-03 9.97040785e-01 -2.30800947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26629675700002 meters 0.07326960743746047 Centerline is valid? [True, True] Translation: X:194.20, Y:-41.48, Z:-23.08 [[ 8.72565750e-01 4.83773416e-01 6.77664636e-02 1.94199485e+02] [-4.82443149e-01 8.75192183e-01 -3.58782652e-02 -4.14793439e+01] [-7.66656302e-02 -1.38732070e-03 9.97055894e-01 -2.30843599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29629675700002 meters 0.07383031979403366 Centerline is valid? [True, True] Translation: X:194.23, Y:-41.49, Z:-23.09 [[ 8.70571018e-01 4.87596338e-01 6.59993440e-02 1.94228721e+02] [-4.86344044e-01 8.73067611e-01 -3.49630847e-02 -4.14909299e+01] [-7.46697617e-02 -1.66053955e-03 9.97206934e-01 -2.30894519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32629675700002 meters 0.07420757677498331 Centerline is valid? [True, True] Translation: X:194.26, Y:-41.50, Z:-23.09 [[ 8.69633264e-01 4.89340977e-01 6.54476421e-02 1.94257774e+02] [-4.88113159e-01 8.72090730e-01 -3.46886435e-02 -4.15042697e+01] [-7.40508567e-02 -1.77945710e-03 9.97252879e-01 -2.30944785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35629675700002 meters 0.07462389607336793 Centerline is valid? [True, True] Translation: X:194.29, Y:-41.52, Z:-23.10 [[ 8.68521511e-01 4.91419783e-01 6.46295722e-02 1.94285977e+02] [-4.90226400e-01 8.70920748e-01 -3.42801397e-02 -4.15172122e+01] [-7.31331742e-02 -1.91008377e-03 9.97320355e-01 -2.30985985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.38629675700003 meters 0.07536272665517282 Centerline is valid? [True, True] Translation: X:194.32, Y:-41.53, Z:-23.10 [[ 8.66393568e-01 4.95409968e-01 6.26988707e-02 1.94315102e+02] [-4.94296508e-01 8.68656582e-01 -3.32671668e-02 -4.15295170e+01] [-7.09446728e-02 -2.16937348e-03 9.97477893e-01 -2.31031812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.41629675700003 meters 0.07617743469495979 Centerline is valid? [True, True] Translation: X:194.34, Y:-41.54, Z:-23.11 [[ 8.64612379e-01 4.98489789e-01 6.28757945e-02 1.94344144e+02] [-4.97378242e-01 8.66892165e-01 -3.33595373e-02 -4.15421263e+01] [-7.11359223e-02 -2.42998324e-03 9.97463671e-01 -2.31068695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.44629675700003 meters 0.07690276453881391 Centerline is valid? [True, True] Translation: X:194.37, Y:-41.55, Z:-23.11 [[ 8.63830644e-01 4.99785905e-01 6.33298340e-02 1.94372199e+02] [-4.98660360e-01 8.66145255e-01 -3.36190814e-02 -4.15548992e+01] [-7.16551783e-02 -2.53888509e-03 9.97426233e-01 -2.31118400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.47629675700003 meters 0.07824565843093143 Centerline is valid? [True, True] Translation: X:194.40, Y:-41.57, Z:-23.12 [[ 8.62742676e-01 5.01513381e-01 6.44934416e-02 1.94401717e+02] [-5.00349549e-01 8.65145624e-01 -3.42546165e-02 -4.15664853e+01] [-7.29753673e-02 -2.71634487e-03 9.97330044e-01 -2.31172589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.50629675700003 meters 0.07777906984621474 Centerline is valid? [True, True] Translation: X:194.43, Y:-41.58, Z:-23.12 [[ 8.62263806e-01 5.02236011e-01 6.52695824e-02 1.94429459e+02] [-5.01044362e-01 8.64726082e-01 -3.46893529e-02 -4.15829534e+01] [-7.38625525e-02 -2.79158279e-03 9.97264524e-01 -2.31185343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.53629675700003 meters 0.07657273485257078 Centerline is valid? [True, True] Translation: X:194.46, Y:-41.60, Z:-23.12 [[ 8.61931057e-01 5.02686638e-01 6.61890942e-02 1.94455598e+02] [-5.01460961e-01 8.64463998e-01 -3.51980150e-02 -4.16021154e+01] [-7.49116609e-02 -2.85298449e-03 9.97186093e-01 -2.31179614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.56629675700003 meters 0.07635691373755599 Centerline is valid? [True, True] Translation: X:194.48, Y:-41.62, Z:-23.12 [[ 8.62217750e-01 5.02059550e-01 6.72068437e-02 1.94483610e+02] [-5.00792270e-01 8.64828446e-01 -3.57611776e-02 -4.16179354e+01] [-7.60766310e-02 -2.82274571e-03 9.97097978e-01 -2.31215714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.59629675700003 meters 0.07621784712075526 Centerline is valid? [True, True] Translation: X:194.51, Y:-41.63, Z:-23.13 [[ 8.62831033e-01 5.00942927e-01 6.76667762e-02 1.94510458e+02] [-4.99652820e-01 8.65476043e-01 -3.60316241e-02 -4.16325533e+01] [-7.66137610e-02 -2.72069209e-03 9.97057135e-01 -2.31256579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.62629675700003 meters 0.07596536983654423 Centerline is valid? [True, True] Translation: X:194.54, Y:-41.65, Z:-23.13 [[ 8.63317504e-01 4.99967888e-01 6.86658415e-02 1.94537934e+02] [-4.98635588e-01 8.66039841e-01 -3.65724576e-02 -4.16481065e+01] [-7.77524088e-02 -2.66558947e-03 9.96969136e-01 -2.31291203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.65629675700004 meters 0.07530823489212311 Centerline is valid? [True, True] Translation: X:194.56, Y:-41.66, Z:-23.13 [[ 8.64344962e-01 4.98069655e-01 6.95298923e-02 1.94564802e+02] [-4.96695681e-01 8.67133400e-01 -3.70549121e-02 -4.16641668e+01] [-7.87476192e-02 -2.50697059e-03 9.96891432e-01 -2.31315684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.68629675700004 meters 0.07469809555429952 Centerline is valid? [True, True] Translation: X:194.59, Y:-41.68, Z:-23.13 [[ 8.64428268e-01 4.97853667e-01 7.00392396e-02 1.94591881e+02] [-4.96457199e-01 8.67257478e-01 -3.73459085e-02 -4.16816361e+01] [-7.93348517e-02 -2.48862572e-03 9.96844917e-01 -2.31329882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.71629675700004 meters 0.0748363080035607 Centerline is valid? [True, True] Translation: X:194.62, Y:-41.70, Z:-23.14 [[ 8.65442456e-01 4.95917203e-01 7.12424300e-02 1.94619448e+02] [-4.94463737e-01 8.68366686e-01 -3.80119998e-02 -4.16950615e+01] [-8.07153575e-02 -2.32959974e-03 9.96734470e-01 -2.31366496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.74629675700004 meters 0.07418339203859797 Centerline is valid? [True, True] Translation: X:194.65, Y:-41.71, Z:-23.14 [[ 8.65082029e-01 4.96675077e-01 7.03345694e-02 1.94646725e+02] [-4.95259686e-01 8.67933361e-01 -3.75436294e-02 -4.17122456e+01] [-7.96927043e-02 -2.35555763e-03 9.96816695e-01 -2.31368564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.77629675700004 meters 0.0747607093456612 Centerline is valid? [True, True] Translation: X:194.68, Y:-41.72, Z:-23.14 [[ 8.64780748e-01 4.97306996e-01 6.95701731e-02 1.94675461e+02] [-4.95922511e-01 8.67571406e-01 -3.71580155e-02 -4.17226804e+01] [-7.88360340e-02 -2.36787854e-03 9.96884784e-01 -2.31424297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.80629675700004 meters 0.07500481004215369 Centerline is valid? [True, True] Translation: X:194.70, Y:-41.74, Z:-23.15 [[ 8.64157824e-01 4.98552008e-01 6.83896940e-02 1.94703566e+02] [-4.97216543e-01 8.66856406e-01 -3.65469568e-02 -4.17362878e+01] [-7.75046030e-02 -2.42214859e-03 9.96989052e-01 -2.31465449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.836296757 meters 0.07535456298258429 Centerline is valid? [True, True] Translation: X:194.73, Y:-41.75, Z:-23.15 [[ 8.63638390e-01 4.99947372e-01 6.46634033e-02 1.94731603e+02] [-4.98755812e-01 8.66052496e-01 -3.45791071e-02 -4.17503817e+01] [-7.32896356e-02 -2.38740381e-03 9.97307841e-01 -2.31501197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.86629675700001 meters 0.0756734805226345 Centerline is valid? [True, True] Translation: X:194.76, Y:-41.76, Z:-23.15 [[ 8.63193428e-01 5.00780579e-01 6.41554131e-02 1.94759726e+02] [-4.99610009e-01 8.65570831e-01 -3.43070829e-02 -4.17638347e+01] [-7.27113751e-02 -2.43903797e-03 9.97350042e-01 -2.31549204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.89629675700002 meters 0.07580992733247223 Centerline is valid? [True, True] Translation: X:194.79, Y:-41.78, Z:-23.16 [[ 8.62594812e-01 5.02000391e-01 6.26561844e-02 1.94788734e+02] [-5.00885756e-01 8.64863880e-01 -3.35250437e-02 -4.17780209e+01] [-7.10186558e-02 -2.46506149e-03 9.97471941e-01 -2.31576184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92629675700002 meters 0.0761993740609889 Centerline is valid? [True, True] Translation: X:194.82, Y:-41.79, Z:-23.16 [[ 8.62615716e-01 5.01986834e-01 6.24767551e-02 1.94817536e+02] [-5.00877410e-01 8.64871812e-01 -3.34450242e-02 -4.17917467e+01] [-7.08233461e-02 -2.44299174e-03 9.97485882e-01 -2.31619537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95629675700002 meters 0.07602300434005309 Centerline is valid? [True, True] Translation: X:194.85, Y:-41.81, Z:-23.16 [[ 8.62462280e-01 5.02429261e-01 6.10217390e-02 1.94845517e+02] [-5.01371331e-01 8.64614954e-01 -3.26767304e-02 -4.18072196e+01] [-6.91780536e-02 -2.41210312e-03 9.97601413e-01 -2.31641801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98629675700002 meters 0.07587940135342436 Centerline is valid? [True, True] Translation: X:194.87, Y:-41.82, Z:-23.17 [[ 8.62917316e-01 5.01659996e-01 6.09176040e-02 1.94873642e+02] [-5.00602556e-01 8.65061740e-01 -3.26384288e-02 -4.18226052e+01] [-6.90708826e-02 -2.33124294e-03 9.97609031e-01 -2.31660548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01629675700002 meters 0.0754649166970964 Centerline is valid? [True, True] Translation: X:194.90, Y:-41.84, Z:-23.17 [[ 8.63369994e-01 5.00774764e-01 6.17809698e-02 1.94901438e+02] [-4.99683452e-01 8.65574640e-01 -3.31208325e-02 -4.18385504e+01] [-7.00621178e-02 -2.27539531e-03 9.97540035e-01 -2.31695915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04629675700002 meters 0.07547905722752608 Centerline is valid? [True, True] Translation: X:194.93, Y:-41.85, Z:-23.18 [[ 8.64116216e-01 4.99362945e-01 6.27679402e-02 1.94928970e+02] [-4.98231244e-01 8.66390159e-01 -3.36707534e-02 -4.18519998e+01] [-7.11954523e-02 -2.17750490e-03 9.97460007e-01 -2.31750776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07629675700002 meters 0.07432618725946485 Centerline is valid? [True, True] Translation: X:194.96, Y:-41.87, Z:-23.18 [[ 8.65844594e-01 4.96139606e-01 6.44874447e-02 1.94955557e+02] [-4.94934543e-01 8.68240577e-01 -3.46135531e-02 -4.18689773e+01] [-7.31637709e-02 -1.94710614e-03 9.97318039e-01 -2.31776581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10629675700002 meters 0.0735546214746941 Centerline is valid? [True, True] Translation: X:194.98, Y:-41.89, Z:-23.18 [[ 8.66654781e-01 4.94536954e-01 6.58990997e-02 1.94982253e+02] [-4.93272568e-01 8.69154663e-01 -3.53884893e-02 -4.18861569e+01] [-7.47774255e-02 -1.83661467e-03 9.97198558e-01 -2.31785340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.13629675700003 meters 0.07344560897205378 Centerline is valid? [True, True] Translation: X:195.01, Y:-41.90, Z:-23.18 [[ 8.67796491e-01 4.92160350e-01 6.86107817e-02 1.95009290e+02] [-4.90780543e-01 8.70502938e-01 -3.68658865e-02 -4.19016410e+01] [-7.78698147e-02 -1.68074973e-03 9.96962119e-01 -2.31812606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.16629675700003 meters 0.07337352425244449 Centerline is valid? [True, True] Translation: X:195.04, Y:-41.92, Z:-23.18 [[ 8.68401738e-01 4.90749787e-01 7.10145597e-02 1.95036159e+02] [-4.89264858e-01 8.71299101e-01 -3.81808299e-02 -4.19155129e+01] [-8.06121561e-02 -1.58862938e-03 9.96744278e-01 -2.31832036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.19629675700003 meters 0.07300261026897849 Centerline is valid? [True, True] Translation: X:195.06, Y:-41.93, Z:-23.18 [[ 8.68423400e-01 4.90593808e-01 7.18227923e-02 1.95064108e+02] [-4.89073422e-01 8.71386947e-01 -3.86261242e-02 -4.19323523e+01] [-8.15351810e-02 -1.58278862e-03 9.96669207e-01 -2.31834299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.22629675700003 meters 0.07336609807705373 Centerline is valid? [True, True] Translation: X:195.09, Y:-41.95, Z:-23.19 [[ 8.68190958e-01 4.91037156e-01 7.16028742e-02 1.95093578e+02] [-4.89525864e-01 8.71137158e-01 -3.85289495e-02 -4.19467839e+01] [-8.12950702e-02 -1.60097331e-03 9.96688792e-01 -2.31855172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.25629675700003 meters 0.07356701677801948 Centerline is valid? [True, True] Translation: X:195.12, Y:-41.96, Z:-23.19 [[ 8.67802924e-01 4.91775302e-01 7.12399966e-02 1.95122490e+02] [-4.90279653e-01 8.70720603e-01 -3.83600611e-02 -4.19605332e+01] [-8.08946634e-02 -1.63854760e-03 9.96721309e-01 -2.31901616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.28629675700003 meters 0.07383410677160247 Centerline is valid? [True, True] Translation: X:195.15, Y:-41.97, Z:-23.19 [[ 8.67312037e-01 4.92752868e-01 7.04587946e-02 1.95151052e+02] [-4.91291408e-01 8.70167655e-01 -3.79605705e-02 -4.19747172e+01] [-8.00161440e-02 -1.69214067e-03 9.96792131e-01 -2.31941741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.31629675700003 meters 0.07450402404712636 Centerline is valid? [True, True] Translation: X:195.18, Y:-41.98, Z:-23.20 [[ 8.65866898e-01 4.95556729e-01 6.85422745e-02 1.95180927e+02] [-4.94180437e-01 8.68573553e-01 -3.69550942e-02 -4.19845746e+01] [-7.78473525e-02 -1.87405841e-03 9.96963529e-01 -2.31998844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.34629675700003 meters 0.07502405922874053 Centerline is valid? [True, True] Translation: X:195.21, Y:-42.00, Z:-23.20 [[ 8.64854704e-01 4.97444082e-01 6.76441091e-02 1.95209965e+02] [-4.96109450e-01 8.67493698e-01 -3.64705065e-02 -4.19962279e+01] [-7.68228760e-02 -2.01719264e-03 9.97042716e-01 -2.32045244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.37629675700003 meters 0.07603924571750835 Centerline is valid? [True, True] Translation: X:195.24, Y:-42.00, Z:-23.21 [[ 8.63255631e-01 5.00474240e-01 6.56905690e-02 1.95240337e+02] [-4.99222705e-01 8.65748632e-01 -3.54400501e-02 -4.20033690e+01] [-7.46083524e-02 -2.20040072e-03 9.97210485e-01 -2.32114520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.40629675700004 meters 0.07579400352317707 Centerline is valid? [True, True] Translation: X:195.27, Y:-42.02, Z:-23.21 [[ 8.61930822e-01 5.02829547e-01 6.50976578e-02 1.95270018e+02] [-5.01606725e-01 8.64382322e-01 -3.51268396e-02 -4.20154684e+01] [-7.39320775e-02 -2.37651719e-03 9.97260447e-01 -2.32133500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.43629675700004 meters 0.07605557251907277 Centerline is valid? [True, True] Translation: X:195.30, Y:-42.03, Z:-23.22 [[ 8.61235256e-01 5.03963759e-01 6.55313920e-02 1.95297808e+02] [-5.02726685e-01 8.63721248e-01 -3.53763519e-02 -4.20277893e+01] [-7.44292549e-02 -2.47701793e-03 9.97223220e-01 -2.32184808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.46629675700004 meters 0.07596346445251141 Centerline is valid? [True, True] Translation: X:195.33, Y:-42.04, Z:-23.22 [[ 8.60209983e-01 5.05685301e-01 6.57355499e-02 1.95327448e+02] [-5.04444114e-01 8.62714044e-01 -3.55051128e-02 -4.20404250e+01] [-7.46653958e-02 -2.61805879e-03 9.97205207e-01 -2.32203014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.49629675700004 meters 0.07645372586314557 Centerline is valid? [True, True] Translation: X:195.36, Y:-42.05, Z:-23.23 [[ 8.59682235e-01 5.06439649e-01 6.68231762e-02 1.95357235e+02] [-5.05157575e-01 8.62271154e-01 -3.61148296e-02 -4.20507394e+01] [-7.59096789e-02 -2.70895622e-03 9.97111018e-01 -2.32256603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.52629675700004 meters 0.07584475897998712 Centerline is valid? [True, True] Translation: X:195.39, Y:-42.06, Z:-23.23 [[ 8.59521217e-01 5.06549367e-01 6.80515728e-02 1.95386609e+02] [-5.05218014e-01 8.62206585e-01 -3.68044023e-02 -4.20648166e+01] [-7.73177608e-02 -2.74671574e-03 9.97002718e-01 -2.32277228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.55629675700004 meters 0.07735314755014518 Centerline is valid? [True, True] Translation: X:195.42, Y:-42.07, Z:-23.23 [[ 8.58322780e-01 5.08416235e-01 6.92454895e-02 1.95418375e+02] [-5.07043515e-01 8.61106352e-01 -3.74529742e-02 -4.20710460e+01] [-7.86694309e-02 -2.96373550e-03 9.96896352e-01 -2.32341264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.586296757 meters 0.0758717704257951 Centerline is valid? [True, True] Translation: X:195.45, Y:-42.09, Z:-23.23 [[ 8.57873740e-01 5.08875363e-01 7.14038565e-02 1.95445695e+02] [-5.07415500e-01 8.60834691e-01 -3.86412331e-02 -4.20885040e+01] [-8.11304883e-02 -3.08212437e-03 9.96698723e-01 -2.32319365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.61629675700001 meters 0.0755149766702786 Centerline is valid? [True, True] Translation: X:195.47, Y:-42.10, Z:-23.23 [[ 8.57767900e-01 5.08944574e-01 7.21779098e-02 1.95474181e+02] [-5.07451190e-01 8.60793701e-01 -3.90831715e-02 -4.21039676e+01] [-8.20214582e-02 -3.10247630e-03 9.96625735e-01 -2.32333126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.64629675700002 meters 0.07590338961467492 Centerline is valid? [True, True] Translation: X:195.50, Y:-42.11, Z:-23.24 [[ 8.58108249e-01 5.08083072e-01 7.41742929e-02 1.95503663e+02] [-5.06500426e-01 8.61302556e-01 -4.01898693e-02 -4.21131044e+01] [-8.43063003e-02 -3.08205264e-03 9.96435120e-01 -2.32385235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67629675700002 meters 0.07497171454489428 Centerline is valid? [True, True] Translation: X:195.53, Y:-42.13, Z:-23.24 [[ 8.58301001e-01 5.07600083e-01 7.52432534e-02 1.95531080e+02] [-5.05967882e-01 8.61587362e-01 -4.07887243e-02 -4.21296312e+01] [-8.55329960e-02 -3.06166661e-03 9.96330634e-01 -2.32393435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70629675700002 meters 0.07497171454489428 Centerline is valid? [True, True] Translation: X:195.56, Y:-42.15, Z:-23.24 [[ 8.58158570e-01 5.07842269e-01 7.52336223e-02 1.95559363e+02] [-5.06209442e-01 8.61444619e-01 -4.08064795e-02 -4.21450656e+01] [-8.55328543e-02 -3.06553979e-03 9.96330635e-01 -2.32429603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73629675700002 meters 0.07436665398705529 Centerline is valid? [True, True] Translation: X:195.59, Y:-42.16, Z:-23.24 [[ 8.58354536e-01 5.07349663e-01 7.63138883e-02 1.95588314e+02] [-5.05665053e-01 8.61734941e-01 -4.14215505e-02 -4.21590131e+01] [-8.67775537e-02 -3.03489057e-03 9.96223090e-01 -2.32445242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76629675700002 meters 0.07437563014058564 Centerline is valid? [True, True] Translation: X:195.62, Y:-42.17, Z:-23.25 [[ 8.58395270e-01 5.07262302e-01 7.64363572e-02 1.95616642e+02] [-5.05569477e-01 8.61786468e-01 -4.15161013e-02 -4.21719538e+01] [-8.69313714e-02 -3.00666416e-03 9.96209765e-01 -2.32475709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79629675700002 meters 0.07465691717922435 Centerline is valid? [True, True] Translation: X:195.65, Y:-42.18, Z:-23.25 [[ 8.58858110e-01 5.06746333e-01 7.46384642e-02 1.95646525e+02] [-5.05129527e-01 8.62090415e-01 -4.05496751e-02 -4.21840698e+01] [-8.48935038e-02 -2.87567480e-03 9.96385881e-01 -2.32507713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82629675700002 meters 0.0744186133554748 Centerline is valid? [True, True] Translation: X:195.68, Y:-42.20, Z:-23.26 [[ 8.59357325e-01 5.05872529e-01 7.48196021e-02 1.95675952e+02] [-5.04242106e-01 8.62603793e-01 -4.06767091e-02 -4.21975361e+01] [-8.51169023e-02 -2.77136582e-03 9.96367117e-01 -2.32561061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85629675700002 meters 0.07472366069098971 Centerline is valid? [True, True] Translation: X:195.70, Y:-42.21, Z:-23.26 [[ 8.58910636e-01 5.07196522e-01 7.08816408e-02 1.95704993e+02] [-5.05737731e-01 8.61826053e-01 -3.85383242e-02 -4.22093586e+01] [-8.06341487e-02 -2.74654357e-03 9.96739981e-01 -2.32609442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.88629675700003 meters 0.07491927521458037 Centerline is valid? [True, True] Translation: X:195.73, Y:-42.22, Z:-23.27 [[ 8.58699321e-01 5.07718820e-01 6.96927208e-02 1.95734283e+02] [-5.06308773e-01 8.61518508e-01 -3.79115661e-02 -4.22223370e+01] [-7.92899845e-02 -2.73139987e-03 9.96847851e-01 -2.32662864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.91629675700003 meters 0.07555915998878181 Centerline is valid? [True, True] Translation: X:195.76, Y:-42.23, Z:-23.27 [[ 8.58408333e-01 5.08527200e-01 6.73440529e-02 1.95764274e+02] [-5.07211432e-01 8.61041721e-01 -3.66567728e-02 -4.22320408e+01] [-7.66270052e-02 -2.69119425e-03 9.97056197e-01 -2.32710756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.94629675700003 meters 0.07569358160378377 Centerline is valid? [True, True] Translation: X:195.79, Y:-42.25, Z:-23.28 [[ 8.58247623e-01 5.08844136e-01 6.69974882e-02 1.95793332e+02] [-5.07541848e-01 8.60854452e-01 -3.64812887e-02 -4.22455335e+01] [-7.62383758e-02 -2.69404968e-03 9.97085980e-01 -2.32752831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.97629675700003 meters 0.07610729479139945 Centerline is valid? [True, True] Translation: X:195.82, Y:-42.26, Z:-23.28 [[ 8.57757951e-01 5.09797867e-01 6.60108495e-02 1.95822436e+02] [-5.08534913e-01 8.60289916e-01 -3.59652974e-02 -4.22565721e+01] [-7.51235001e-02 -2.71930174e-03 9.97170530e-01 -2.32787452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.00629675700003 meters 0.07602772790567014 Centerline is valid? [True, True] Translation: X:195.85, Y:-42.27, Z:-23.28 [[ 8.57592013e-01 5.10114539e-01 6.57198277e-02 1.95851404e+02] [-5.08862256e-01 8.60102183e-01 -3.58251378e-02 -4.22701294e+01] [-7.48006908e-02 -2.71898772e-03 9.97194797e-01 -2.32820194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.03629675700003 meters 0.07590844207024178 Centerline is valid? [True, True] Translation: X:195.88, Y:-42.28, Z:-23.28 [[ 8.57320977e-01 5.10475406e-01 6.64499960e-02 1.95881608e+02] [-5.09194267e-01 8.59887926e-01 -3.62484872e-02 -4.22827279e+01] [-7.56435105e-02 -2.75936846e-03 9.97131107e-01 -2.32846910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.06629675700003 meters 0.07625406723554518 Centerline is valid? [True, True] Translation: X:195.91, Y:-42.30, Z:-23.29 [[ 8.56989295e-01 5.11097421e-01 6.59452397e-02 1.95910672e+02] [-5.09837038e-01 8.59518271e-01 -3.59796670e-02 -4.22962432e+01] [-7.50702534e-02 -2.78713617e-03 9.97174352e-01 -2.32878273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.09629675700003 meters 0.07539915139882399 Centerline is valid? [True, True] Translation: X:195.94, Y:-42.31, Z:-23.29 [[ 8.56721572e-01 5.11424533e-01 6.68812023e-02 1.95938285e+02] [-5.10127477e-01 8.59323509e-01 -3.65111510e-02 -4.23127649e+01] [-7.61452878e-02 -2.83804828e-03 9.97092694e-01 -2.32875463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.12629675700003 meters 0.07521447412624147 Centerline is valid? [True, True] Translation: X:195.97, Y:-42.33, Z:-23.29 [[ 8.56422829e-01 5.11873027e-01 6.72751216e-02 1.95968518e+02] [-5.10560429e-01 8.59056299e-01 -3.67467430e-02 -4.23261574e+01] [-7.66027836e-02 -2.87726532e-03 9.97057538e-01 -2.32899195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.15629675700004 meters 0.0754735401558501 Centerline is valid? [True, True] Translation: X:196.00, Y:-42.34, Z:-23.29 [[ 8.55974087e-01 5.12532725e-01 6.79600447e-02 1.95998285e+02] [-5.11193268e-01 8.58662646e-01 -3.71470483e-02 -4.23370388e+01] [-7.73938297e-02 -2.94380663e-03 9.96996253e-01 -2.32941229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.18629675700004 meters 0.07548035232003272 Centerline is valid? [True, True] Translation: X:196.03, Y:-42.35, Z:-23.30 [[ 8.55930153e-01 5.12686865e-01 6.73479973e-02 1.96027038e+02] [-5.11370105e-01 8.58570735e-01 -3.68362310e-02 -4.23507294e+01] [-7.67084713e-02 -2.91051161e-03 9.97049316e-01 -2.32973751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.21629675700004 meters 0.07555678362146603 Centerline is valid? [True, True] Translation: X:196.06, Y:-42.36, Z:-23.30 [[ 8.56252442e-01 5.12205500e-01 6.69124896e-02 1.96056763e+02] [-5.10902656e-01 8.58858262e-01 -3.66191471e-02 -4.23624746e+01] [-7.62248730e-02 -2.83053456e-03 9.97086635e-01 -2.33018952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.24629675700004 meters 0.07604323447097673 Centerline is valid? [True, True] Translation: X:196.09, Y:-42.37, Z:-23.31 [[ 8.56331126e-01 5.12070773e-01 6.69367357e-02 1.96085703e+02] [-5.10764902e-01 8.58938694e-01 -3.66542756e-02 -4.23735940e+01] [-7.62641356e-02 -2.80073816e-03 9.97083716e-01 -2.33075871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.27629675700004 meters 0.07532584408423522 Centerline is valid? [True, True] Translation: X:196.11, Y:-42.39, Z:-23.31 [[ 8.56618414e-01 5.11485061e-01 6.77342187e-02 1.96112915e+02] [-5.10144535e-01 8.59287721e-01 -3.71101959e-02 -4.23902478e+01] [-7.71844932e-02 -2.76496434e-03 9.97012993e-01 -2.33080806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.30629675700004 meters 0.0753340231888977 Centerline is valid? [True, True] Translation: X:196.14, Y:-42.40, Z:-23.31 [[ 8.57689129e-01 5.09616534e-01 6.82667231e-02 1.96141119e+02] [-5.08246789e-01 8.60397734e-01 -3.74291492e-02 -4.24012591e+01] [-7.78110471e-02 -2.59376842e-03 9.96964750e-01 -2.33117971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.336296757 meters 0.0742655096736043 Centerline is valid? [True, True] Translation: X:196.17, Y:-42.42, Z:-23.31 [[ 8.58876160e-01 5.07531793e-01 6.88710498e-02 1.96168022e+02] [-5.06130546e-01 8.61629628e-01 -3.77657933e-02 -4.24176111e+01] [-7.85086778e-02 -2.42160250e-03 9.96910489e-01 -2.33110395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.36629675700001 meters 0.07428972489275297 Centerline is valid? [True, True] Translation: X:196.20, Y:-42.43, Z:-23.32 [[ 8.59479852e-01 5.06608915e-01 6.81306851e-02 1.96196273e+02] [-5.05233096e-01 8.62172922e-01 -3.73814310e-02 -4.24307587e+01] [-7.76781981e-02 -2.29329008e-03 9.96975846e-01 -2.33151358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.39629675700002 meters 0.07446403123889862 Centerline is valid? [True, True] Translation: X:196.23, Y:-42.44, Z:-23.32 [[ 8.59759833e-01 5.06397419e-01 6.61413877e-02 1.96225325e+02] [-5.05099646e-01 8.62297403e-01 -3.62978793e-02 -4.24414289e+01] [-7.54146992e-02 -2.20053286e-03 9.97149829e-01 -2.33196649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42629675700002 meters 0.0745703564633212 Centerline is valid? [True, True] Translation: X:196.25, Y:-42.45, Z:-23.32 [[ 8.59614662e-01 5.06786432e-01 6.50395635e-02 1.96253889e+02] [-5.05531318e-01 8.62068881e-01 -3.57117852e-02 -4.24546894e+01] [-7.41668319e-02 -2.18116210e-03 9.97243463e-01 -2.33228629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45629675700002 meters 0.07459034835258439 Centerline is valid? [True, True] Translation: X:196.28, Y:-42.47, Z:-23.33 [[ 8.59193596e-01 5.07602259e-01 6.42363730e-02 1.96282976e+02] [-5.06378949e-01 8.61588690e-01 -3.52886541e-02 -4.24673682e+01] [-7.32579330e-02 -2.20816145e-03 9.97310583e-01 -2.33273989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48629675700002 meters 0.07500455480219918 Centerline is valid? [True, True] Translation: X:196.31, Y:-42.48, Z:-23.33 [[ 8.58088200e-01 5.09699650e-01 6.23771356e-02 1.96313007e+02] [-5.08550306e-01 8.60349333e-01 -3.42872010e-02 -4.24778603e+01] [-7.11423014e-02 -2.30046883e-03 9.97463524e-01 -2.33315856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51629675700002 meters 0.07520976482790692 Centerline is valid? [True, True] Translation: X:196.34, Y:-42.49, Z:-23.34 [[ 8.57045717e-01 5.11561724e-01 6.14592715e-02 1.96342241e+02] [-5.10449250e-01 8.59243180e-01 -3.38041622e-02 -4.24873741e+01] [-7.01013753e-02 -2.40012659e-03 9.97536985e-01 -2.33361932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54629675700002 meters 0.07547122464128334 Centerline is valid? [True, True] Translation: X:196.37, Y:-42.50, Z:-23.34 [[ 8.56270869e-01 5.12833202e-01 6.16628321e-02 1.96371295e+02] [-5.11716219e-01 8.58484606e-01 -3.39218530e-02 -4.25008902e+01] [-7.03328446e-02 -2.50757675e-03 9.97520427e-01 -2.33394486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57629675700002 meters 0.07563559872458707 Centerline is valid? [True, True] Translation: X:196.40, Y:-42.51, Z:-23.34 [[ 8.55440392e-01 5.14222362e-01 6.16206026e-02 1.96400200e+02] [-5.13108757e-01 8.57652965e-01 -3.39233592e-02 -4.25123628e+01] [-7.02932425e-02 -2.59865910e-03 9.97522986e-01 -2.33442816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60629675700002 meters 0.07535278692456827 Centerline is valid? [True, True] Translation: X:196.43, Y:-42.53, Z:-23.35 [[ 8.54793170e-01 5.15159238e-01 6.27662003e-02 1.96428416e+02] [-5.14005951e-01 8.57090167e-01 -3.45590605e-02 -4.25283316e+01] [-7.15997124e-02 -2.72135152e-03 9.97429735e-01 -2.33462936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.63629675700003 meters 0.0758285128240702 Centerline is valid? [True, True] Translation: X:196.46, Y:-42.54, Z:-23.35 [[ 8.54563692e-01 5.15438251e-01 6.35948608e-02 1.96456756e+02] [-5.14253209e-01 8.56922280e-01 -3.50405849e-02 -4.25397694e+01] [-7.25571110e-02 -2.75944967e-03 9.97360442e-01 -2.33519238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.66629675700003 meters 0.07511069383898199 Centerline is valid? [True, True] Translation: X:196.48, Y:-42.56, Z:-23.35 [[ 8.53774853e-01 5.16474641e-01 6.57453118e-02 1.96484854e+02] [-5.15210447e-01 8.56297447e-01 -3.62336551e-02 -4.25554154e+01] [-7.50113067e-02 -2.93728802e-03 9.97178357e-01 -2.33501759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.69629675700003 meters 0.07599565499795684 Centerline is valid? [True, True] Translation: X:196.51, Y:-42.57, Z:-23.36 [[ 8.53615036e-01 5.16607243e-01 6.67707002e-02 1.96513584e+02] [-5.15301938e-01 8.56217321e-01 -3.68213527e-02 -4.25661895e+01] [-7.61924076e-02 -2.97581093e-03 9.97088693e-01 -2.33563394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.72629675700003 meters 0.07496271184500915 Centerline is valid? [True, True] Translation: X:196.54, Y:-42.58, Z:-23.35 [[ 8.53269141e-01 5.17296217e-01 6.58513303e-02 1.96541466e+02] [-5.16027321e-01 8.55801231e-01 -3.63325980e-02 -4.25835734e+01] [-7.51503650e-02 -2.97960091e-03 9.97167762e-01 -2.33548317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.75629675700003 meters 0.07511457045536905 Centerline is valid? [True, True] Translation: X:196.57, Y:-42.60, Z:-23.36 [[ 8.52947010e-01 5.17856792e-01 6.56181398e-02 1.96570341e+02] [-5.16596965e-01 8.55462063e-01 -3.62247837e-02 -4.25979404e+01] [-7.48930795e-02 -3.00031098e-03 9.97187056e-01 -2.33572305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.78629675700003 meters 0.07639035704401272 Centerline is valid? [True, True] Translation: X:196.60, Y:-42.61, Z:-23.36 [[ 8.52872945e-01 5.17893080e-01 6.62910061e-02 1.96600503e+02] [-5.16605680e-01 8.55440042e-01 -3.66183884e-02 -4.26058933e+01] [-7.56723910e-02 -3.01547749e-03 9.97128174e-01 -2.33646790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.81629675700003 meters 0.0749847633391618 Centerline is valid? [True, True] Translation: X:196.63, Y:-42.62, Z:-23.36 [[ 8.52459287e-01 5.18732619e-01 6.50356348e-02 1.96626551e+02] [-5.17494632e-01 8.54931213e-01 -3.59433916e-02 -4.26249848e+01] [-7.42460037e-02 -3.01531391e-03 9.97235398e-01 -2.33638877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.84629675700003 meters 0.07493227107536841 Centerline is valid? [True, True] Translation: X:196.66, Y:-42.64, Z:-23.37 [[ 8.52169806e-01 5.19298309e-01 6.43108729e-02 1.96655486e+02] [-5.18087673e-01 8.54587740e-01 -3.55662498e-02 -4.26353320e+01] [-7.34287769e-02 -3.01018633e-03 9.97295921e-01 -2.33677443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.87629675700003 meters 0.07541572645312399 Centerline is valid? [True, True] Translation: X:196.68, Y:-42.65, Z:-23.37 [[ 8.51751170e-01 5.20057611e-01 6.37183227e-02 1.96684055e+02] [-5.18870984e-01 8.54125764e-01 -3.52431877e-02 -4.26468586e+01] [-7.27519490e-02 -3.04316243e-03 9.97345423e-01 -2.33731216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.90629675700004 meters 0.07575196860229762 Centerline is valid? [True, True] Translation: X:196.71, Y:-42.66, Z:-23.38 [[ 8.50997264e-01 5.21389096e-01 6.29052296e-02 1.96713425e+02] [-5.20234916e-01 8.53313421e-01 -3.48114688e-02 -4.26570925e+01] [-7.18281969e-02 -3.10103213e-03 9.97412199e-01 -2.33794956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.93629675700004 meters 0.07594327190506402 Centerline is valid? [True, True] Translation: X:196.74, Y:-42.67, Z:-23.38 [[ 8.50423029e-01 5.22378142e-01 6.24639750e-02 1.96742332e+02] [-5.21241567e-01 8.52708138e-01 -3.45841035e-02 -4.26701656e+01] [-7.13295196e-02 -3.14770208e-03 9.97447839e-01 -2.33832179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.96629675700004 meters 0.076066351645792 Centerline is valid? [True, True] Translation: X:196.77, Y:-42.68, Z:-23.39 [[ 8.50050209e-01 5.23246285e-01 6.02326088e-02 1.96770979e+02] [-5.22190376e-01 8.52175913e-01 -3.33680080e-02 -4.26811489e+01] [-6.87884646e-02 -3.08840649e-03 9.97626488e-01 -2.33879950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.99629675700004 meters 0.07508783991695944 Centerline is valid? [True, True] Translation: X:196.80, Y:-42.70, Z:-23.39 [[ 8.49662904e-01 5.23962612e-01 5.94653726e-02 1.96798542e+02] [-5.22933806e-01 8.51735664e-01 -3.29635044e-02 -4.26981531e+01] [-6.79204226e-02 -3.08858672e-03 9.97685961e-01 -2.33892013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.02629675700004 meters 0.07506390136509491 Centerline is valid? [True, True] Translation: X:196.83, Y:-42.71, Z:-23.39 [[ 8.49291163e-01 5.24620096e-01 5.89769032e-02 1.96827047e+02] [-5.23609880e-01 8.51330745e-01 -3.26903111e-02 -4.27118514e+01] [-6.73588451e-02 -3.11729681e-03 9.97723944e-01 -2.33920803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.05629675700004 meters 0.07378449445765195 Centerline is valid? [True, True] Translation: X:196.85, Y:-42.73, Z:-23.39 [[ 8.48668670e-01 5.25853714e-01 5.69153709e-02 1.96854481e+02] [-5.24914713e-01 8.50569414e-01 -3.15628926e-02 -4.27279801e+01] [-6.50079380e-02 -3.08927755e-03 9.97879965e-01 -2.33888750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.086296757 meters 0.07391479579734982 Centerline is valid? [True, True] Translation: X:196.88, Y:-42.74, Z:-23.39 [[ 8.48559275e-01 5.26052128e-01 5.67125697e-02 1.96883556e+02] [-5.25119346e-01 8.50446744e-01 -3.14644076e-02 -4.27404066e+01] [-6.47829388e-02 -3.08145257e-03 9.97894621e-01 -2.33927090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.11629675700001 meters 0.07385572752861115 Centerline is valid? [True, True] Translation: X:196.91, Y:-42.75, Z:-23.39 [[ 8.48267917e-01 5.26666136e-01 5.53563225e-02 1.96913636e+02] [-5.25776911e-01 8.50066827e-01 -3.07413213e-02 -4.27525405e+01] [-6.32469864e-02 -3.02819966e-03 9.97993311e-01 -2.33938478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.14629675700002 meters 0.0741195309637086 Centerline is valid? [True, True] Translation: X:196.94, Y:-42.77, Z:-23.40 [[ 8.48014741e-01 5.27007358e-01 5.59843207e-02 1.96942472e+02] [-5.26098830e-01 8.49855096e-01 -3.10859607e-02 -4.27659593e+01] [-6.39610903e-02 -3.09193265e-03 9.97947603e-01 -2.33970987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17629675700002 meters 0.07397324844031554 Centerline is valid? [True, True] Translation: X:196.97, Y:-42.78, Z:-23.40 [[ 8.48075872e-01 5.26827668e-01 5.67443794e-02 1.96971568e+02] [-5.25892667e-01 8.49966453e-01 -3.15266845e-02 -4.27802441e+01] [-6.48399485e-02 -3.10443254e-03 9.97890848e-01 -2.33996852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20629675700002 meters 0.07395014554215996 Centerline is valid? [True, True] Translation: X:197.00, Y:-42.79, Z:-23.40 [[ 8.48055256e-01 5.26858490e-01 5.67663190e-02 1.97000968e+02] [-5.25921590e-01 8.49947394e-01 -3.15580141e-02 -4.27922482e+01] [-6.48749926e-02 -3.09169304e-03 9.97888609e-01 -2.34007473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23629675700002 meters 0.07377556203203176 Centerline is valid? [True, True] Translation: X:197.03, Y:-42.81, Z:-23.40 [[ 8.47863517e-01 5.26998206e-01 5.83125007e-02 1.97029838e+02] [-5.26008186e-01 8.49860499e-01 -3.24425678e-02 -4.28070255e+01] [-6.66546660e-02 -3.16598317e-03 9.97771082e-01 -2.34033581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26629675700002 meters 0.0740350473583013 Centerline is valid? [True, True] Translation: X:197.06, Y:-42.82, Z:-23.41 [[ 8.47132231e-01 5.28035345e-01 5.95454216e-02 1.97059578e+02] [-5.27005565e-01 8.49215916e-01 -3.31279730e-02 -4.28180032e+01] [-6.80596604e-02 -3.31699491e-03 9.97675739e-01 -2.34076849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29629675700002 meters 0.07407622600469634 Centerline is valid? [True, True] Translation: X:197.09, Y:-42.83, Z:-23.41 [[ 8.46789633e-01 5.28734043e-01 5.82033388e-02 1.97088102e+02] [-5.27750604e-01 8.48781213e-01 -3.23998994e-02 -4.28317404e+01] [-6.65328303e-02 -3.28094830e-03 9.97778842e-01 -2.34102265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32629675700002 meters 0.07511579510326043 Centerline is valid? [True, True] Translation: X:197.12, Y:-42.84, Z:-23.41 [[ 8.45587683e-01 5.30742358e-01 5.73935589e-02 1.97117214e+02] [-5.29789179e-01 8.47526511e-01 -3.19724868e-02 -4.28404697e+01] [-6.56117157e-02 -3.37094542e-03 9.97839536e-01 -2.34149479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35629675700002 meters 0.07514916800979242 Centerline is valid? [True, True] Translation: X:197.15, Y:-42.85, Z:-23.42 [[ 8.44928671e-01 5.31801371e-01 5.72960929e-02 1.97145685e+02] [-5.30853962e-01 8.46862095e-01 -3.19164931e-02 -4.28545542e+01] [-6.54951241e-02 -3.44869786e-03 9.97846930e-01 -2.34179265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.38629675700003 meters 0.07538592956113861 Centerline is valid? [True, True] Translation: X:197.18, Y:-42.87, Z:-23.42 [[ 8.43718988e-01 5.33604856e-01 5.83448994e-02 1.97176256e+02] [-5.32625466e-01 8.45726088e-01 -3.25191727e-02 -4.28659731e+01] [-6.66961920e-02 -3.63893577e-03 9.97766694e-01 -2.34202845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.41629675700003 meters 0.07600515261263086 Centerline is valid? [True, True] Translation: X:197.20, Y:-42.88, Z:-23.42 [[ 8.43376730e-01 5.34173338e-01 5.80907635e-02 1.97204684e+02] [-5.33201960e-01 8.45367118e-01 -3.24053288e-02 -4.28774917e+01] [-6.64180840e-02 -3.64420874e-03 9.97785226e-01 -2.34241162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.44629675700003 meters 0.0758583090674742 Centerline is valid? [True, True] Translation: X:197.23, Y:-42.89, Z:-23.43 [[ 8.42921087e-01 5.34868982e-01 5.83027727e-02 1.97232695e+02] [-5.33892596e-01 8.44926829e-01 -3.25169130e-02 -4.28918453e+01] [-6.66538651e-02 -3.71822708e-03 9.97769230e-01 -2.34273050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.47629675700003 meters 0.0763284761728811 Centerline is valid? [True, True] Translation: X:197.26, Y:-42.90, Z:-23.43 [[ 8.41977376e-01 5.36218915e-01 5.95262352e-02 1.97262133e+02] [-5.35203244e-01 8.44069983e-01 -3.32167331e-02 -4.29029884e+01] [-6.80557489e-02 -3.89089636e-03 9.97673933e-01 -2.34303348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.50629675700003 meters 0.073748279622743 Centerline is valid? [True, True] Translation: X:197.29, Y:-42.92, Z:-23.43 [[ 8.41616556e-01 5.36663950e-01 6.06083919e-02 1.97288208e+02] [-5.35611011e-01 8.43786658e-01 -3.38366666e-02 -4.29227376e+01] [-6.92994716e-02 -3.98502322e-03 9.97587942e-01 -2.34273782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.53629675700003 meters 0.07347091818078852 Centerline is valid? [True, True] Translation: X:197.32, Y:-42.94, Z:-23.43 [[ 8.41435096e-01 5.36926051e-01 6.08062087e-02 1.97317340e+02] [-5.35865659e-01 8.43619807e-01 -3.39649348e-02 -4.29384488e+01] [-6.95339803e-02 -4.00467095e-03 9.97571545e-01 -2.34305069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.56629675700003 meters 0.07659927471923134 Centerline is valid? [True, True] Translation: X:197.35, Y:-42.94, Z:-23.44 [[ 8.41494396e-01 5.36811214e-01 6.09991933e-02 1.97348659e+02] [-5.35741721e-01 8.43692986e-01 -3.41021060e-02 -4.29445534e+01] [-6.97709845e-02 -3.98308167e-03 9.97555084e-01 -2.34403028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.59629675700003 meters 0.07379960140806967 Centerline is valid? [True, True] Translation: X:197.37, Y:-42.96, Z:-23.44 [[ 8.42143660e-01 5.35601579e-01 6.26498568e-02 1.97373992e+02] [-5.34468864e-01 8.44461456e-01 -3.50411628e-02 -4.29648691e+01] [-7.16734914e-02 -3.97470477e-03 9.97420229e-01 -2.34401674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.62629675700003 meters 0.07379960140806967 Centerline is valid? [True, True] Translation: X:197.40, Y:-42.98, Z:-23.44 [[ 8.41996227e-01 5.35832985e-01 6.26527433e-02 1.97402145e+02] [-5.34701289e-01 8.44314520e-01 -3.50360059e-02 -4.29807256e+01] [-7.16720686e-02 -4.00031789e-03 9.97420228e-01 -2.34437833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.65629675700004 meters 0.07384704870493988 Centerline is valid? [True, True] Translation: X:197.43, Y:-43.00, Z:-23.45 [[ 8.42561124e-01 5.35007666e-01 6.21091776e-02 1.97430079e+02] [-5.33891603e-01 8.44838314e-01 -3.47559974e-02 -4.29959450e+01] [-7.10669380e-02 -3.87551612e-03 9.97464020e-01 -2.34477267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.68629675700004 meters 0.07386398001629252 Centerline is valid? [True, True] Translation: X:197.46, Y:-43.01, Z:-23.45 [[ 8.44211745e-01 5.32242462e-01 6.34388788e-02 1.97456577e+02] [-5.31068018e-01 8.46583907e-01 -3.55309584e-02 -4.30105183e+01] [-7.26174186e-02 -3.69470728e-03 9.97353027e-01 -2.34525585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.71629675700004 meters 0.07346227667086817 Centerline is valid? [True, True] Translation: X:197.48, Y:-43.03, Z:-23.46 [[ 8.45017371e-01 5.30990123e-01 6.32070576e-02 1.97484399e+02] [-5.29820955e-01 8.47370463e-01 -3.53985112e-02 -4.30271527e+01] [-7.23560535e-02 -3.57606677e-03 9.97372455e-01 -2.34556944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.74629675700004 meters 0.07346947844251772 Centerline is valid? [True, True] Translation: X:197.51, Y:-43.04, Z:-23.46 [[ 8.46278264e-01 5.28889300e-01 6.39469119e-02 1.97510329e+02] [-5.27685832e-01 8.48683899e-01 -3.58232072e-02 -4.30422348e+01] [-7.32172255e-02 -3.42747784e-03 9.97310127e-01 -2.34596808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.77629675700004 meters 0.07130301772649984 Centerline is valid? [True, True] Translation: X:197.53, Y:-43.06, Z:-23.46 [[ 8.47197778e-01 5.27186945e-01 6.58015945e-02 1.97534678e+02] [-5.25907417e-01 8.49742626e-01 -3.68626937e-02 -4.30638173e+01] [-7.53479505e-02 -3.37555437e-03 9.97151589e-01 -2.34569048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.80629675700004 meters 0.07262584281740161 Centerline is valid? [True, True] Translation: X:197.56, Y:-43.07, Z:-23.46 [[ 8.49035755e-01 5.23825666e-01 6.88836560e-02 1.97562555e+02] [-5.22411978e-01 8.51819412e-01 -3.85929437e-02 -4.30742145e+01] [-7.88924097e-02 -3.21885785e-03 9.96877940e-01 -2.34641146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.836296757 meters 0.07061156232357177 Centerline is valid? [True, True] Translation: X:197.59, Y:-43.10, Z:-23.46 [[ 8.49815743e-01 5.22385356e-01 7.01907613e-02 1.97586459e+02] [-5.20912502e-01 8.52703733e-01 -3.93256667e-02 -4.30969016e+01] [-8.03950766e-02 -3.14367442e-03 9.96758120e-01 -2.34618712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.86629675700001 meters 0.07184934511223824 Centerline is valid? [True, True] Translation: X:197.62, Y:-43.11, Z:-23.47 [[ 8.50115877e-01 5.21913384e-01 7.00672170e-02 1.97615281e+02] [-5.20444411e-01 8.52992866e-01 -3.92528320e-02 -4.31072845e+01] [-8.02534147e-02 -3.09663578e-03 9.96769683e-01 -2.34696171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.89629675700002 meters 0.07195329755330726 Centerline is valid? [True, True] Translation: X:197.64, Y:-43.12, Z:-23.47 [[ 8.50228458e-01 5.21529551e-01 7.15436696e-02 1.97642162e+02] [-5.19994667e-01 8.53227568e-01 -4.01031484e-02 -4.31217930e+01] [-8.19580082e-02 -3.10548865e-03 9.96630945e-01 -2.34737518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92629675700002 meters 0.07091233106627269 Centerline is valid? [True, True] Translation: X:197.67, Y:-43.14, Z:-23.47 [[ 8.49751914e-01 5.22185490e-01 7.24154576e-02 1.97667740e+02] [-5.20613636e-01 8.52825969e-01 -4.06116745e-02 -4.31420836e+01] [-8.29646099e-02 -3.19062658e-03 9.96547386e-01 -2.34722563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95629675700002 meters 0.07243502346961227 Centerline is valid? [True, True] Translation: X:197.70, Y:-43.15, Z:-23.48 [[ 8.49494020e-01 5.22509510e-01 7.31007622e-02 1.97697470e+02] [-5.20906814e-01 8.52627333e-01 -4.10210028e-02 -4.31509244e+01] [-8.37615719e-02 -3.23158855e-03 9.96480585e-01 -2.34812024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98629675700002 meters 0.07169718766229914 Centerline is valid? [True, True] Translation: X:197.72, Y:-43.17, Z:-23.48 [[ 8.48416311e-01 5.24237857e-01 7.32422823e-02 1.97723847e+02] [-5.22633457e-01 8.51565135e-01 -4.11228649e-02 -4.31687174e+01] [-8.39287366e-02 -3.38955781e-03 9.96465994e-01 -2.34824154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01629675700002 meters 0.0708072509778141 Centerline is valid? [True, True] Translation: X:197.75, Y:-43.19, Z:-23.48 [[ 8.47679821e-01 5.25343012e-01 7.38487673e-02 1.97750279e+02] [-5.23714263e-01 8.50883305e-01 -4.14845908e-02 -4.31876702e+01] [-8.46303231e-02 -3.51000218e-03 9.96406237e-01 -2.34831121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04629675700002 meters 0.07201444320547834 Centerline is valid? [True, True] Translation: X:197.78, Y:-43.20, Z:-23.49 [[ 8.46719040e-01 5.26953084e-01 7.33983272e-02 1.97779920e+02] [-5.25348032e-01 8.49886637e-01 -4.12571158e-02 -4.31977286e+01] [-8.41208219e-02 -3.62648132e-03 9.96448963e-01 -2.34897024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07629675700002 meters 0.0730421560853229 Centerline is valid? [True, True] Translation: X:197.81, Y:-43.21, Z:-23.49 [[ 8.44878283e-01 5.29784587e-01 7.42224941e-02 1.97808503e+02] [-5.28151622e-01 8.48123142e-01 -4.17492487e-02 -4.32082475e+01] [-8.50679234e-02 -3.92769706e-03 9.96367413e-01 -2.34942458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10629675700002 meters 0.07333108235387907 Centerline is valid? [True, True] Translation: X:197.84, Y:-43.22, Z:-23.50 [[ 8.44162009e-01 5.30887117e-01 7.44940970e-02 1.97836686e+02] [-5.29246284e-01 8.47432858e-01 -4.19037269e-02 -4.32226174e+01] [-8.53748943e-02 -4.05218976e-03 9.96340658e-01 -2.34979934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.13629675700003 meters 0.0721018592302413 Centerline is valid? [True, True] Translation: X:197.86, Y:-43.24, Z:-23.50 [[ 8.42931373e-01 5.32952933e-01 7.36740908e-02 1.97862288e+02] [-5.31353490e-01 8.46134515e-01 -4.14710862e-02 -4.32415842e+01] [-8.44403281e-02 -4.18970560e-03 9.96419730e-01 -2.34982628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.16629675700003 meters 0.07159968804654125 Centerline is valid? [True, True] Translation: X:197.89, Y:-43.26, Z:-23.50 [[ 8.42333384e-01 5.34014490e-01 7.28216622e-02 1.97889062e+02] [-5.32455980e-01 8.45464656e-01 -4.09895794e-02 -4.32580950e+01] [-8.34571709e-02 -4.24743837e-03 9.96502313e-01 -2.35008523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.19629675700003 meters 0.07290809198010424 Centerline is valid? [True, True] Translation: X:197.92, Y:-43.27, Z:-23.51 [[ 8.41614179e-01 5.35269637e-01 7.19165477e-02 1.97918296e+02] [-5.33752351e-01 8.44670317e-01 -4.05028779e-02 -4.32680604e+01] [-8.24257339e-02 -4.29783007e-03 9.96587942e-01 -2.35074654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.22629675700003 meters 0.0754133815401664 Centerline is valid? [True, True] Translation: X:197.95, Y:-43.28, Z:-23.52 [[ 8.41230844e-01 5.36027098e-01 7.07503857e-02 1.97949138e+02] [-5.34559522e-01 8.44189918e-01 -3.98685268e-02 -4.32752274e+01] [-8.10973730e-02 -4.28165798e-03 9.96696987e-01 -2.35163972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.25629675700003 meters 0.0728772587994025 Centerline is valid? [True, True] Translation: X:197.97, Y:-43.30, Z:-23.51 [[ 8.40890846e-01 5.36516465e-01 7.10821235e-02 1.97974670e+02] [-5.35035195e-01 8.43878731e-01 -4.00752852e-02 -4.32981057e+01] [-8.14857425e-02 -4.33249739e-03 9.96665091e-01 -2.35146349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.28629675700003 meters 0.07273113903369159 Centerline is valid? [True, True] Translation: X:198.00, Y:-43.31, Z:-23.52 [[ 8.40843315e-01 5.36462231e-01 7.20471582e-02 1.98002375e+02] [-5.34937818e-01 8.43913057e-01 -4.06482849e-02 -4.33143860e+01] [-8.26078072e-02 -4.36191093e-03 9.96572588e-01 -2.35176226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.31629675700003 meters 0.07280619655020047 Centerline is valid? [True, True] Translation: X:198.03, Y:-43.33, Z:-23.52 [[ 8.41087469e-01 5.36004907e-01 7.25989634e-02 1.98029841e+02] [-5.34453244e-01 8.44203766e-01 -4.09845286e-02 -4.33287502e+01] [-8.32562268e-02 -4.32917807e-03 9.96518770e-01 -2.35208682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.34629675700003 meters 0.07203093291876414 Centerline is valid? [True, True] Translation: X:198.06, Y:-43.35, Z:-23.52 [[ 8.41960542e-01 5.34293332e-01 7.50538561e-02 1.98056047e+02] [-5.32625501e-01 8.45288320e-01 -4.23996581e-02 -4.33461945e+01] [-8.60960026e-02 -4.27675858e-03 9.96277666e-01 -2.35222856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.37629675700003 meters 0.07169455035459343 Centerline is valid? [True, True] Translation: X:198.08, Y:-43.36, Z:-23.53 [[ 8.42706591e-01 5.33032341e-01 7.56447240e-02 1.98083228e+02] [-5.31332678e-01 8.46084555e-01 -4.27376994e-02 -4.33623183e+01] [-8.67824086e-02 -4.17717278e-03 9.96218533e-01 -2.35253304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.40629675700004 meters 0.07127668258781106 Centerline is valid? [True, True] Translation: X:198.11, Y:-43.38, Z:-23.53 [[ 8.44375271e-01 5.30275710e-01 7.64072814e-02 1.98109278e+02] [-5.28529793e-01 8.47816159e-01 -4.31742687e-02 -4.33794438e+01] [-8.76735939e-02 -3.92823978e-03 9.96141511e-01 -2.35287223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.43629675700004 meters 0.07111454105292096 Centerline is valid? [True, True] Translation: X:198.14, Y:-43.40, Z:-23.53 [[ 8.45341589e-01 5.28640888e-01 7.70480933e-02 1.98136079e+02] [-5.26858302e-01 8.48837132e-01 -4.35413905e-02 -4.33954803e+01] [-8.84190418e-02 -3.78607939e-03 9.96076171e-01 -2.35323495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.46629675700004 meters 0.07077543375044025 Centerline is valid? [True, True] Translation: X:198.16, Y:-43.41, Z:-23.54 [[ 8.47192533e-01 5.25467041e-01 7.84168346e-02 1.98161883e+02] [-5.23606510e-01 8.50806704e-01 -4.43190011e-02 -4.34118281e+01] [-9.00057431e-02 -3.51283830e-03 9.95935051e-01 -2.35355699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.49629675700004 meters 0.07063158591327401 Centerline is valid? [True, True] Translation: X:198.19, Y:-43.43, Z:-23.54 [[ 8.48024566e-01 5.24099129e-01 7.85775915e-02 1.98189465e+02] [-5.22225351e-01 8.51650573e-01 -4.44070278e-02 -4.34283223e+01] [-9.01943354e-02 -3.37695981e-03 9.95918460e-01 -2.35391522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.52629675700004 meters 0.07064675516302474 Centerline is valid? [True, True] Translation: X:198.22, Y:-43.44, Z:-23.54 [[ 8.48849757e-01 5.22864124e-01 7.78922239e-02 1.98215870e+02] [-5.21015478e-01 8.52410053e-01 -4.40451353e-02 -4.34432709e+01] [-8.94257358e-02 -3.19535187e-03 9.95988367e-01 -2.35442420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.55629675700004 meters 0.0704597867646199 Centerline is valid? [True, True] Translation: X:198.24, Y:-43.46, Z:-23.55 [[ 8.48828070e-01 5.23045207e-01 7.69065572e-02 1.98243107e+02] [-5.21241914e-01 8.52299102e-01 -4.35098502e-02 -4.34591866e+01] [-8.83050083e-02 -3.15453890e-03 9.96088487e-01 -2.35478720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.586296757 meters 0.07078615641314885 Centerline is valid? [True, True] Translation: X:198.27, Y:-43.47, Z:-23.55 [[ 8.48599189e-01 5.23485843e-01 7.64329038e-02 1.98270899e+02] [-5.21704298e-01 8.52028516e-01 -4.32669986e-02 -4.34730196e+01] [-8.77726749e-02 -3.15903456e-03 9.96135522e-01 -2.35525877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.61629675700001 meters 0.07114721229369442 Centerline is valid? [True, True] Translation: X:198.30, Y:-43.49, Z:-23.56 [[ 8.47660809e-01 5.25233277e-01 7.48408755e-02 1.98299440e+02] [-5.23530186e-01 8.50952075e-01 -4.23876188e-02 -4.34859642e+01] [-8.59493863e-02 -3.25113416e-03 9.96294200e-01 -2.35579981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.64629675700002 meters 0.07191289001087353 Centerline is valid? [True, True] Translation: X:198.33, Y:-43.50, Z:-23.56 [[ 8.46392104e-01 5.27479885e-01 7.33851298e-02 1.98327257e+02] [-5.25848512e-01 8.49560769e-01 -4.15913695e-02 -4.34968403e+01] [-8.42837381e-02 -3.38685461e-03 9.96436039e-01 -2.35641097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.67629675700002 meters 0.07230763307350896 Centerline is valid? [True, True] Translation: X:198.36, Y:-43.51, Z:-23.57 [[ 8.45524439e-01 5.28915262e-01 7.30552431e-02 1.98355800e+02] [-5.27304498e-01 8.48667340e-01 -4.13970040e-02 -4.35106537e+01] [-8.38951060e-02 -3.52017975e-03 9.96468374e-01 -2.35689392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70629675700002 meters 0.07259810144291945 Centerline is valid? [True, True] Translation: X:198.38, Y:-43.53, Z:-23.57 [[ 8.45191064e-01 5.29573093e-01 7.21415619e-02 1.98383922e+02] [-5.28002962e-01 8.48257001e-01 -4.09015067e-02 -4.35261267e+01] [-8.28549223e-02 -3.52137038e-03 9.96555398e-01 -2.35729463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73629675700002 meters 0.07301719966472114 Centerline is valid? [True, True] Translation: X:198.41, Y:-43.54, Z:-23.58 [[ 8.44773789e-01 5.30312857e-01 7.15927268e-02 1.98410569e+02] [-5.28767324e-01 8.47794605e-01 -4.06131106e-02 -4.35408718e+01] [-8.22335823e-02 -3.54700327e-03 9.96606771e-01 -2.35773110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76629675700002 meters 0.07317222666007893 Centerline is valid? [True, True] Translation: X:198.44, Y:-43.56, Z:-23.58 [[ 8.44893419e-01 5.30022438e-01 7.23279089e-02 1.98437348e+02] [-5.28442127e-01 8.47976240e-01 -4.10513579e-02 -4.35558822e+01] [-8.30904891e-02 -3.53709194e-03 9.96535729e-01 -2.35811351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79629675700002 meters 0.07298147064481181 Centerline is valid? [True, True] Translation: X:198.46, Y:-43.57, Z:-23.58 [[ 8.45166385e-01 5.29659506e-01 7.17954690e-02 1.98464644e+02] [-5.28099475e-01 8.48203304e-01 -4.07688459e-02 -4.35731015e+01] [-8.24907608e-02 -3.45869140e-03 9.96585828e-01 -2.35844752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82629675700002 meters 0.07128744355629554 Centerline is valid? [True, True] Translation: X:198.49, Y:-43.60, Z:-23.58 [[ 8.45247593e-01 5.29533717e-01 7.17673263e-02 1.98488802e+02] [-5.27972706e-01 8.48281968e-01 -4.07740529e-02 -4.35956163e+01] [-8.24701647e-02 -3.42701944e-03 9.96587642e-01 -2.35830906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85629675700002 meters 0.07125939631279209 Centerline is valid? [True, True] Translation: X:198.52, Y:-43.61, Z:-23.59 [[ 8.45395292e-01 5.29376390e-01 7.11859347e-02 1.98516160e+02] [-5.27838249e-01 8.48380406e-01 -4.04656686e-02 -4.36133429e+01] [-8.18143217e-02 -3.36517338e-03 9.96641908e-01 -2.35861248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.88629675700003 meters 0.0713718690528056 Centerline is valid? [True, True] Translation: X:198.54, Y:-43.63, Z:-23.59 [[ 8.45959860e-01 5.28332098e-01 7.22295602e-02 1.98541097e+02] [-5.26741764e-01 8.49031459e-01 -4.10937497e-02 -4.36299383e+01] [-8.30363159e-02 -3.28266319e-03 9.96541115e-01 -2.35906531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.91629675700003 meters 0.07081036979546097 Centerline is valid? [True, True] Translation: X:198.57, Y:-43.65, Z:-23.59 [[ 8.46217266e-01 5.27951892e-01 7.19940163e-02 1.98565640e+02] [-5.26370545e-01 8.49268119e-01 -4.09598897e-02 -4.36510255e+01] [-8.27670741e-02 -3.23456374e-03 9.96563670e-01 -2.35917559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.94629675700003 meters 0.07091024676056878 Centerline is valid? [True, True] Translation: X:198.59, Y:-43.67, Z:-23.60 [[ 8.46057536e-01 5.28205883e-01 7.20082760e-02 1.98593498e+02] [-5.26622907e-01 8.49110149e-01 -4.09910803e-02 -4.36674365e+01] [-8.27946877e-02 -3.24039530e-03 9.96561358e-01 -2.35953230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.97629675700003 meters 0.07111329907498735 Centerline is valid? [True, True] Translation: X:198.62, Y:-43.68, Z:-23.60 [[ 8.45904694e-01 5.28411797e-01 7.22926150e-02 1.98620924e+02] [-5.26814607e-01 8.48981989e-01 -4.11819315e-02 -4.36825274e+01] [-8.31361465e-02 -3.24881639e-03 9.96532903e-01 -2.35997257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.00629675700003 meters 0.0714097222568596 Centerline is valid? [True, True] Translation: X:198.65, Y:-43.70, Z:-23.60 [[ 8.45367871e-01 5.29224413e-01 7.26270167e-02 1.98648010e+02] [-5.27613044e-01 8.48475394e-01 -4.14002599e-02 -4.36970214e+01] [-8.35322649e-02 -3.32051175e-03 9.96499541e-01 -2.36040577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.03629675700003 meters 0.07165466109202573 Centerline is valid? [True, True] Translation: X:198.68, Y:-43.71, Z:-23.61 [[ 8.44629193e-01 5.30571318e-01 7.13834930e-02 1.98676084e+02] [-5.29018314e-01 8.47633553e-01 -4.07060531e-02 -4.37127585e+01] [-8.21045081e-02 -3.38165434e-03 9.96617988e-01 -2.36079652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.06629675700003 meters 0.07174972356526188 Centerline is valid? [True, True] Translation: X:198.70, Y:-43.73, Z:-23.61 [[ 8.43221785e-01 5.32989639e-01 6.99933278e-02 1.98703395e+02] [-5.31504772e-01 8.46114342e-01 -3.99148724e-02 -4.37279262e+01] [-8.04965719e-02 -3.54469780e-03 9.96748583e-01 -2.36116967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.09629675700003 meters 0.07204905449323971 Centerline is valid? [True, True] Translation: X:198.73, Y:-43.74, Z:-23.62 [[ 8.42208622e-01 5.34671710e-01 6.93599290e-02 1.98731075e+02] [-5.33217850e-01 8.45051948e-01 -3.95718317e-02 -4.37425097e+01] [-7.97706820e-02 -3.65621442e-03 9.96806536e-01 -2.36161809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.12629675700003 meters 0.07240932434925404 Centerline is valid? [True, True] Translation: X:198.76, Y:-43.76, Z:-23.62 [[ 8.41652998e-01 5.35713214e-01 6.80557357e-02 1.98759479e+02] [-5.34314873e-01 8.44392058e-01 -3.88544517e-02 -4.37575170e+01] [-7.82805660e-02 -3.66122600e-03 9.96924645e-01 -2.36206205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.15629675700004 meters 0.07313919001555977 Centerline is valid? [True, True] Translation: X:198.79, Y:-43.77, Z:-23.63 [[ 8.40360988e-01 5.37995030e-01 6.59905834e-02 1.98786617e+02] [-5.36686719e-01 8.42939676e-01 -3.76837827e-02 -4.37709974e+01] [-7.58997688e-02 -3.74828892e-03 9.97108407e-01 -2.36252917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.18629675700004 meters 0.07385573028953882 Centerline is valid? [True, True] Translation: X:198.81, Y:-43.78, Z:-23.63 [[ 8.39610259e-01 5.39243184e-01 6.53559650e-02 1.98814039e+02] [-5.37964281e-01 8.42141389e-01 -3.73137241e-02 -4.37847661e+01] [-7.51601345e-02 -3.83018915e-03 9.97164121e-01 -2.36305252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.21629675700004 meters 0.07442519555887495 Centerline is valid? [True, True] Translation: X:198.84, Y:-43.80, Z:-23.63 [[ 8.38349162e-01 5.41409333e-01 6.36130183e-02 1.98840799e+02] [-5.40202055e-01 8.40750124e-01 -3.63451286e-02 -4.37993924e+01] [-7.31602449e-02 -3.89397510e-03 9.97312597e-01 -2.36349431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.24629675700004 meters 0.0746704699170607 Centerline is valid? [True, True] Translation: X:198.87, Y:-43.82, Z:-23.64 [[ 8.37939151e-01 5.42200898e-01 6.22588583e-02 1.98868078e+02] [-5.41046505e-01 8.40239944e-01 -3.55740973e-02 -4.38160270e+01] [-7.16006871e-02 -3.87600874e-03 9.97425846e-01 -2.36387001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.27629675700004 meters 0.07496409015558501 Centerline is valid? [True, True] Translation: X:198.89, Y:-43.83, Z:-23.64 [[ 8.37831292e-01 5.42338670e-01 6.25099481e-02 1.98894002e+02] [-5.41175402e-01 8.40150892e-01 -3.57164141e-02 -4.38337543e+01] [-7.18881812e-02 -3.90451691e-03 9.97405055e-01 -2.36420850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.30629675700004 meters 0.07455526800929943 Centerline is valid? [True, True] Translation: X:198.92, Y:-43.85, Z:-23.64 [[ 8.38123758e-01 5.41735639e-01 6.38048910e-02 1.98919214e+02] [-5.40519834e-01 8.40539834e-01 -3.64841969e-02 -4.38519050e+01] [-7.33953422e-02 -3.90953686e-03 9.97295262e-01 -2.36447863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.336296757 meters 0.07407250386589735 Centerline is valid? [True, True] Translation: X:198.94, Y:-43.87, Z:-23.65 [[ 8.38302710e-01 5.41484880e-01 6.35821546e-02 1.98944206e+02] [-5.40277304e-01 8.40701538e-01 -3.63505001e-02 -4.38733309e+01] [-7.31368613e-02 -3.87927234e-03 9.97314369e-01 -2.36465164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.36629675700001 meters 0.07493307424327125 Centerline is valid? [True, True] Translation: X:198.97, Y:-43.89, Z:-23.65 [[ 8.38211736e-01 5.41642866e-01 6.34357242e-02 1.98972470e+02] [-5.40439549e-01 8.40599831e-01 -3.62907321e-02 -4.38880931e+01] [-7.29806752e-02 -3.86385666e-03 9.97325870e-01 -2.36518499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.39629675700002 meters 0.07508402635388084 Centerline is valid? [True, True] Translation: X:199.00, Y:-43.90, Z:-23.66 [[ 8.38102809e-01 5.41685467e-01 6.45022181e-02 1.98999314e+02] [-5.40440474e-01 8.40572110e-01 -3.69137075e-02 -4.39040057e+01] [-7.42143844e-02 -3.92212735e-03 9.97234597e-01 -2.36563233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42629675700002 meters 0.07547718856873206 Centerline is valid? [True, True] Translation: X:199.03, Y:-43.92, Z:-23.66 [[ 8.37924655e-01 5.41895581e-01 6.50496062e-02 1.99025693e+02] [-5.40628349e-01 8.40436510e-01 -3.72486237e-02 -4.39208659e+01] [-7.48549286e-02 -3.95612103e-03 9.97186587e-01 -2.36601476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45629675700002 meters 0.07530005535534814 Centerline is valid? [True, True] Translation: X:199.05, Y:-43.94, Z:-23.66 [[ 8.37760582e-01 5.42189115e-01 6.47160761e-02 1.99052620e+02] [-5.40934382e-01 8.40247219e-01 -3.70756796e-02 -4.39382651e+01] [-7.44795328e-02 -3.94660770e-03 9.97214733e-01 -2.36630605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48629675700002 meters 0.07586651196937153 Centerline is valid? [True, True] Translation: X:199.08, Y:-43.96, Z:-23.67 [[ 8.37530186e-01 5.42525224e-01 6.48811889e-02 1.99079114e+02] [-5.41263333e-01 8.40030144e-01 -3.71935674e-02 -4.39552804e+01] [-7.46806030e-02 -3.96707308e-03 9.97199614e-01 -2.36681421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51629675700002 meters 0.07586651196937153 Centerline is valid? [True, True] Translation: X:199.11, Y:-43.97, Z:-23.67 [[ 8.37385849e-01 5.42748514e-01 6.48767375e-02 1.99107084e+02] [-5.41486689e-01 8.39885841e-01 -3.72013307e-02 -4.39714360e+01] [-7.46800202e-02 -3.97802192e-03 9.97199614e-01 -2.36717612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54629675700002 meters 0.07484543848283443 Centerline is valid? [True, True] Translation: X:199.13, Y:-43.99, Z:-23.67 [[ 8.37209317e-01 5.43193622e-01 6.34133169e-02 1.99132528e+02] [-5.41987679e-01 8.39598372e-01 -3.63858440e-02 -4.39909012e+01] [-7.30062761e-02 -3.90666882e-03 9.97323830e-01 -2.36735764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57629675700002 meters 0.0751647989405192 Centerline is valid? [True, True] Translation: X:199.16, Y:-44.01, Z:-23.68 [[ 8.36805620e-01 5.43939808e-01 6.23365068e-02 1.99159809e+02] [-5.42774772e-01 8.39115253e-01 -3.57929988e-02 -4.40070811e+01] [-7.17767506e-02 -3.88290064e-03 9.97413165e-01 -2.36778931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60629675700002 meters 0.07395000287181579 Centerline is valid? [True, True] Translation: X:199.18, Y:-44.03, Z:-23.68 [[ 8.36644217e-01 5.44340824e-01 6.09878708e-02 1.99184575e+02] [-5.43226969e-01 8.38855389e-01 -3.50156716e-02 -4.40286934e+01] [-7.02204636e-02 -3.83459704e-03 9.97524126e-01 -2.36783114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.63629675700003 meters 0.07608298598608079 Centerline is valid? [True, True] Translation: X:199.21, Y:-44.04, Z:-23.69 [[ 8.36869072e-01 5.44149727e-01 5.95922077e-02 1.99213960e+02] [-5.43084494e-01 8.38979903e-01 -3.42338266e-02 -4.40377817e+01] [-6.86249920e-02 -3.71437325e-03 9.97635612e-01 -2.36878354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.66629675700003 meters 0.07431992591072858 Centerline is valid? [True, True] Translation: X:199.24, Y:-44.06, Z:-23.69 [[ 8.37334202e-01 5.43546837e-01 5.85514320e-02 1.99239513e+02] [-5.42516043e-01 8.39371170e-01 -3.36508735e-02 -4.40608035e+01] [-6.74372099e-02 -3.58806387e-03 9.97717068e-01 -2.36878429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.69629675700003 meters 0.0744908815327475 Centerline is valid? [True, True] Translation: X:199.27, Y:-44.08, Z:-23.69 [[ 8.37416542e-01 5.43595756e-01 5.68963010e-02 1.99266107e+02] [-5.42621037e-01 8.39339985e-01 -3.27230639e-02 -4.40761133e+01] [-6.55434591e-02 -3.47029486e-03 9.97843681e-01 -2.36920182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.72629675700003 meters 0.07447547917655442 Centerline is valid? [True, True] Translation: X:199.29, Y:-44.09, Z:-23.70 [[ 8.38216555e-01 5.42440056e-01 5.61408244e-02 1.99292393e+02] [-5.41487397e-01 8.40087947e-01 -3.23054123e-02 -4.40915609e+01] [-6.46869796e-02 -3.32061745e-03 9.97900079e-01 -2.36958058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.75629675700003 meters 0.07363078963785404 Centerline is valid? [True, True] Translation: X:199.32, Y:-44.11, Z:-23.70 [[ 8.38821235e-01 5.41357141e-01 5.75446146e-02 1.99318375e+02] [-5.40351955e-01 8.40786285e-01 -3.31389003e-02 -4.41102174e+01] [-6.63227030e-02 -3.29673175e-03 9.97792779e-01 -2.36974576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.78629675700003 meters 0.07334837627815757 Centerline is valid? [True, True] Translation: X:199.35, Y:-44.13, Z:-23.70 [[ 8.39632792e-01 5.40239950e-01 5.61922668e-02 1.99345787e+02] [-5.39279363e-01 8.41505171e-01 -3.23545317e-02 -4.41285866e+01] [-6.47652937e-02 -3.13740406e-03 9.97895592e-01 -2.36998395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.81629675700003 meters 0.07298703910107933 Centerline is valid? [True, True] Translation: X:199.37, Y:-44.15, Z:-23.70 [[ 8.40843121e-01 5.38381405e-01 5.59312850e-02 1.99370879e+02] [-5.37423629e-01 8.42696112e-01 -3.22351687e-02 -4.41457801e+01] [-6.44878918e-02 -2.95407427e-03 9.97914117e-01 -2.37037329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.84629675700003 meters 0.07298017931461458 Centerline is valid? [True, True] Translation: X:199.40, Y:-44.16, Z:-23.71 [[ 8.42069669e-01 5.36345506e-01 5.70278048e-02 1.99396631e+02] [-5.35344312e-01 8.43993730e-01 -3.28793443e-02 -4.41625011e+01] [-6.57657982e-02 -2.84281234e-03 9.97831037e-01 -2.37078007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.87629675700003 meters 0.07250469808576196 Centerline is valid? [True, True] Translation: X:199.42, Y:-44.18, Z:-23.71 [[ 8.42399887e-01 5.35790711e-01 5.73650058e-02 1.99422943e+02] [-5.34776938e-01 8.44346102e-01 -3.30648697e-02 -4.41806393e+01] [-6.61517691e-02 -2.82363960e-03 9.97805578e-01 -2.37107650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.90629675700004 meters 0.07219524305540313 Centerline is valid? [True, True] Translation: X:199.45, Y:-44.20, Z:-23.71 [[ 8.42372072e-01 5.35828188e-01 5.74233862e-02 1.99449736e+02] [-5.34811182e-01 8.44322354e-01 -3.31173973e-02 -4.41985993e+01] [-6.62290836e-02 -2.81349841e-03 9.97800477e-01 -2.37135537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.93629675700004 meters 0.07222108447666031 Centerline is valid? [True, True] Translation: X:199.48, Y:-44.22, Z:-23.72 [[ 8.41453709e-01 5.37284294e-01 5.72821341e-02 1.99476834e+02] [-5.36274399e-01 8.43396200e-01 -3.30547995e-02 -4.42154947e+01] [-6.60713588e-02 -2.90485838e-03 9.97810672e-01 -2.37168746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.96629675700004 meters 0.07164973907702833 Centerline is valid? [True, True] Translation: X:199.50, Y:-44.23, Z:-23.72 [[ 8.40670489e-01 5.38557116e-01 5.68274739e-02 1.99503044e+02] [-5.37564852e-01 8.42583789e-01 -3.28113937e-02 -4.42338452e+01] [-6.55527179e-02 -2.96488228e-03 9.97844703e-01 -2.37176782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.99629675700004 meters 0.0735680533677063 Centerline is valid? [True, True] Translation: X:199.53, Y:-44.24, Z:-23.73 [[ 8.39023224e-01 5.41220217e-01 5.58632914e-02 1.99531667e+02] [-5.40265684e-01 8.40875185e-01 -3.22786854e-02 -4.42438083e+01] [-6.44439326e-02 -3.09845272e-03 9.97916519e-01 -2.37268945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.02629675700004 meters 0.07394436604886842 Centerline is valid? [True, True] Translation: X:199.56, Y:-44.26, Z:-23.73 [[ 8.37913958e-01 5.43017770e-01 5.50626975e-02 1.99558879e+02] [-5.42093584e-01 8.39715180e-01 -3.18270779e-02 -4.42595670e+01] [-6.35196518e-02 -3.18078217e-03 9.97975519e-01 -2.37308882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.05629675700004 meters 0.07455493655369314 Centerline is valid? [True, True] Translation: X:199.59, Y:-44.27, Z:-23.74 [[ 8.36728214e-01 5.44895884e-01 5.45377973e-02 1.99586190e+02] [-5.43992957e-01 8.38497266e-01 -3.15277348e-02 -4.42746670e+01] [-6.29091268e-02 -3.28803238e-03 9.98013843e-01 -2.37357114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.086296757 meters 0.07399126972811725 Centerline is valid? [True, True] Translation: X:199.61, Y:-44.29, Z:-23.74 [[ 8.34324220e-01 5.48782547e-01 5.23527709e-02 1.99611486e+02] [-5.47958346e-01 8.35958066e-01 -3.02615803e-02 -4.42930609e+01] [-6.03717483e-02 -3.43916834e-03 9.98170038e-01 -2.37364768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.11629675700001 meters 0.07586274195702118 Centerline is valid? [True, True] Translation: X:199.64, Y:-44.30, Z:-23.74 [[ 8.32799107e-01 5.51083247e-01 5.24681117e-02 1.99640143e+02] [-5.50259679e-01 8.34442462e-01 -3.03325513e-02 -4.43038779e+01] [-6.04973811e-02 -3.61016473e-03 9.98161827e-01 -2.37438573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.14629675700002 meters 0.07493710827280212 Centerline is valid? [True, True] Translation: X:199.67, Y:-44.32, Z:-23.74 [[ 8.30851203e-01 5.53991375e-01 5.27241316e-02 1.99665916e+02] [-5.53164710e-01 8.32513601e-01 -3.04943846e-02 -4.43223649e+01] [-6.07871827e-02 -3.82883283e-03 9.98143406e-01 -2.37427040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17629675700002 meters 0.07527926274173995 Centerline is valid? [True, True] Translation: X:199.69, Y:-44.34, Z:-23.75 [[ 8.30100029e-01 5.54911336e-01 5.48393208e-02 1.99693973e+02] [-5.54018120e-01 8.31899676e-01 -3.17309438e-02 -4.43379224e+01] [-6.32286736e-02 -4.04212007e-03 9.97990880e-01 -2.37468407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20629675700002 meters 0.07531679180367963 Centerline is valid? [True, True] Translation: X:199.72, Y:-44.35, Z:-23.75 [[ 8.29687887e-01 5.55527117e-01 5.48418872e-02 1.99721706e+02] [-5.54634019e-01 8.31488438e-01 -3.17503095e-02 -4.43545131e+01] [-6.32385530e-02 -4.07432911e-03 9.97990123e-01 -2.37497311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23629675700002 meters 0.07597379873221084 Centerline is valid? [True, True] Translation: X:199.75, Y:-44.37, Z:-23.75 [[ 8.30136810e-01 5.54762007e-01 5.57852393e-02 1.99747779e+02] [-5.53834253e-01 8.31999176e-01 -3.23263308e-02 -4.43699606e+01] [-6.43466932e-02 -4.06049922e-03 9.97919343e-01 -2.37544222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26629675700002 meters 0.07581787949715048 Centerline is valid? [True, True] Translation: X:199.77, Y:-44.39, Z:-23.76 [[ 8.31237569e-01 5.53092556e-01 5.59707843e-02 1.99774441e+02] [-5.52154739e-01 8.33110484e-01 -3.24355602e-02 -4.43866605e+01] [-6.45697141e-02 -3.94287759e-03 9.97905409e-01 -2.37583517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29629675700002 meters 0.07451243632746939 Centerline is valid? [True, True] Translation: X:199.80, Y:-44.41, Z:-23.76 [[ 8.33339245e-01 5.49741651e-01 5.77045910e-02 1.99799292e+02] [-5.48736516e-01 8.35326117e-01 -3.34442122e-02 -4.44068612e+01] [-6.65878284e-02 -3.79424168e-03 9.97773353e-01 -2.37593904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32629675700002 meters 0.07470850273456985 Centerline is valid? [True, True] Translation: X:199.83, Y:-44.42, Z:-23.76 [[ 8.34345319e-01 5.48048743e-01 5.92491664e-02 1.99825276e+02] [-5.46984340e-01 8.36437982e-01 -3.43458177e-02 -4.44226004e+01] [-6.83814354e-02 -3.75209391e-03 9.97652194e-01 -2.37636412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35629675700002 meters 0.07368649609606052 Centerline is valid? [True, True] Translation: X:199.85, Y:-44.44, Z:-23.77 [[ 8.35896524e-01 5.45732560e-01 5.87620075e-02 1.99850976e+02] [-5.44679892e-01 8.37951962e-01 -3.40635338e-02 -4.44418912e+01] [-6.78293190e-02 -3.53289433e-03 9.97690685e-01 -2.37658950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.38629675700003 meters 0.07341243010453842 Centerline is valid? [True, True] Translation: X:199.88, Y:-44.46, Z:-23.77 [[ 8.37933315e-01 5.42634186e-01 5.84457034e-02 1.99876263e+02] [-5.41584953e-01 8.39962806e-01 -3.38854413e-02 -4.44590297e+01] [-6.74796159e-02 -3.25957345e-03 9.97715328e-01 -2.37703143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.41629675700003 meters 0.07334255922409384 Centerline is valid? [True, True] Translation: X:199.90, Y:-44.48, Z:-23.77 [[ 8.38297404e-01 5.42150925e-01 5.77047428e-02 1.99904428e+02] [-5.41127712e-01 8.40275079e-01 -3.34453436e-02 -4.44758376e+01] [-6.66202813e-02 -3.18849070e-03 9.97773307e-01 -2.37743342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.44629675700003 meters 0.07351964612371585 Centerline is valid? [True, True] Translation: X:199.93, Y:-44.49, Z:-23.78 [[ 8.38219552e-01 5.42210333e-01 5.82746699e-02 1.99932433e+02] [-5.41165339e-01 8.40236683e-01 -3.37993069e-02 -4.44888701e+01] [-6.72908488e-02 -3.20499160e-03 9.97728254e-01 -2.37792203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.47629675700003 meters 0.07112269457314618 Centerline is valid? [True, True] Translation: X:199.96, Y:-44.51, Z:-23.78 [[ 8.37634508e-01 5.43068508e-01 5.86943404e-02 1.99957094e+02] [-5.42009403e-01 8.39681970e-01 -3.40587322e-02 -4.45104487e+01] [-6.77808042e-02 -3.28411494e-03 9.97694832e-01 -2.37757757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.50629675700003 meters 0.07411197550221887 Centerline is valid? [True, True] Translation: X:199.99, Y:-44.52, Z:-23.79 [[ 8.37188800e-01 5.43738848e-01 5.88470761e-02 1.99988010e+02] [-5.42674287e-01 8.39247873e-01 -3.41705409e-02 -4.45164684e+01] [-6.79671340e-02 -3.32760090e-03 9.97682011e-01 -2.37864315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.53629675700003 meters 0.0725793285275864 Centerline is valid? [True, True] Translation: X:200.01, Y:-44.54, Z:-23.79 [[ 8.36069103e-01 5.45438196e-01 5.90392200e-02 2.00014987e+02] [-5.44369912e-01 8.38143882e-01 -3.42962435e-02 -4.45351461e+01] [-6.81898422e-02 -3.46514542e-03 9.97666346e-01 -2.37860006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.56629675700003 meters 0.07364828932475573 Centerline is valid? [True, True] Translation: X:200.04, Y:-44.55, Z:-23.79 [[ 8.35584403e-01 5.46226422e-01 5.86123047e-02 2.00042649e+02] [-5.45175286e-01 8.37630250e-01 -3.40510234e-02 -4.45475792e+01] [-6.76950081e-02 -3.50147588e-03 9.97699918e-01 -2.37911436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.59629675700003 meters 0.07176141362934388 Centerline is valid? [True, True] Translation: X:200.07, Y:-44.57, Z:-23.79 [[ 8.34296251e-01 5.48270913e-01 5.78685725e-02 2.00068316e+02] [-5.47250380e-01 8.36292994e-01 -3.36310735e-02 -4.45676482e+01] [-6.68340212e-02 -3.61031979e-03 9.97757575e-01 -2.37885129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.62629675700003 meters 0.07224275501061685 Centerline is valid? [True, True] Translation: X:200.10, Y:-44.58, Z:-23.79 [[ 8.33640771e-01 5.49309178e-01 5.74673084e-02 2.00096106e+02] [-5.48305504e-01 8.35611122e-01 -3.33935205e-02 -4.45814784e+01] [-6.63636893e-02 -3.67144131e-03 9.97788746e-01 -2.37924342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.65629675700004 meters 0.07321318770379386 Centerline is valid? [True, True] Translation: X:200.12, Y:-44.59, Z:-23.80 [[ 8.32394501e-01 5.51301591e-01 5.64442299e-02 2.00123572e+02] [-5.50336353e-01 8.34297642e-01 -3.28228982e-02 -4.45932137e+01] [-6.51866039e-02 -3.74171163e-03 9.97866076e-01 -2.37980082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.68629675700004 meters 0.07194735540466896 Centerline is valid? [True, True] Translation: X:200.15, Y:-44.61, Z:-23.80 [[ 8.31848947e-01 5.52076025e-01 5.69156561e-02 2.00150125e+02] [-5.51096537e-01 8.33784952e-01 -3.30947161e-02 -4.46134432e+01] [-6.57262168e-02 -3.83621626e-03 9.97830320e-01 -2.37985093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.71629675700004 meters 0.07236898564322336 Centerline is valid? [True, True] Translation: X:200.18, Y:-44.63, Z:-23.80 [[ 8.31014746e-01 5.53259498e-01 5.76057217e-02 2.00177492e+02] [-5.52257199e-01 8.32999566e-01 -3.35217753e-02 -4.46279943e+01] [-6.65317818e-02 -3.95608490e-03 9.97776464e-01 -2.38015198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.74629675700004 meters 0.07270900773267068 Centerline is valid? [True, True] Translation: X:200.20, Y:-44.64, Z:-23.81 [[ 8.30832591e-01 5.53441446e-01 5.84788176e-02 2.00204635e+02] [-5.52407674e-01 8.32878408e-01 -3.40487671e-02 -4.46427457e+01] [-6.75497434e-02 -4.01532229e-03 9.97707828e-01 -2.38060149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.77629675700004 meters 0.07173102132785138 Centerline is valid? [True, True] Translation: X:200.23, Y:-44.66, Z:-23.81 [[ 8.30426705e-01 5.54046176e-01 5.85177097e-02 2.00230657e+02] [-5.53011369e-01 8.32476070e-01 -3.40883929e-02 -4.46613105e+01] [-6.76011367e-02 -4.05304692e-03 9.97704194e-01 -2.38070416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.80629675700004 meters 0.07263897458781594 Centerline is valid? [True, True] Translation: X:200.26, Y:-44.67, Z:-23.81 [[ 8.30539156e-01 5.53883156e-01 5.84650335e-02 2.00258177e+02] [-5.52848382e-01 8.32584711e-01 -3.40788152e-02 -4.46744007e+01] [-6.75527748e-02 -4.01850879e-03 9.97707610e-01 -2.38114379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.836296757 meters 0.07285881920405621 Centerline is valid? [True, True] Translation: X:200.29, Y:-44.69, Z:-23.82 [[ 8.30754690e-01 5.53541859e-01 5.86349378e-02 2.00286034e+02] [-5.52498437e-01 8.32811842e-01 -3.42039720e-02 -4.46908523e+01] [-6.77652008e-02 -3.98060132e-03 9.97693356e-01 -2.38152404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.86629675700001 meters 0.07253565493848016 Centerline is valid? [True, True] Translation: X:200.31, Y:-44.71, Z:-23.82 [[ 8.31751384e-01 5.51853789e-01 6.03906531e-02 2.00311420e+02] [-5.50741782e-01 8.33931525e-01 -3.52377806e-02 -4.47092351e+01] [-6.98077722e-02 -3.95058310e-03 9.97552639e-01 -2.38171437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.89629675700002 meters 0.0728382592451302 Centerline is valid? [True, True] Translation: X:200.34, Y:-44.72, Z:-23.82 [[ 8.31976979e-01 5.51538132e-01 6.01663938e-02 2.00338515e+02] [-5.50433922e-01 8.34140498e-01 -3.51016628e-02 -4.47249546e+01] [-6.95471312e-02 -3.91384876e-03 9.97570989e-01 -2.38206121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92629675700002 meters 0.07279756131331928 Centerline is valid? [True, True] Translation: X:200.37, Y:-44.74, Z:-23.82 [[ 8.32023112e-01 5.51239322e-01 6.22314284e-02 2.00365591e+02] [-5.50055066e-01 8.34337590e-01 -3.63346893e-02 -4.47407820e+01] [-7.19511295e-02 -3.99941117e-03 9.97400140e-01 -2.38236083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95629675700002 meters 0.07243508810473552 Centerline is valid? [True, True] Translation: X:200.39, Y:-44.76, Z:-23.83 [[ 8.31717322e-01 5.51800808e-01 6.13364899e-02 2.00392170e+02] [-5.50652293e-01 8.33966377e-01 -3.58069066e-02 -4.47580893e+01] [-7.09108503e-02 -3.99385438e-03 9.97474662e-01 -2.38261360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98629675700002 meters 0.07365392738437093 Centerline is valid? [True, True] Translation: X:200.42, Y:-44.77, Z:-23.83 [[ 8.31452036e-01 5.52208769e-01 6.12616348e-02 2.00421178e+02] [-5.51062628e-01 8.33696246e-01 -3.57847757e-02 -4.47699784e+01] [-7.08342619e-02 -4.00567282e-03 9.97480056e-01 -2.38319027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01629675700002 meters 0.07342857649776313 Centerline is valid? [True, True] Translation: X:200.45, Y:-44.79, Z:-23.83 [[ 8.30745956e-01 5.53234021e-01 6.15895643e-02 2.00448369e+02] [-5.52077039e-01 8.33015793e-01 -3.59948766e-02 -4.47872000e+01] [-7.12186700e-02 -4.09958612e-03 9.97452302e-01 -2.38344127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04629675700002 meters 0.07549202399642113 Centerline is valid? [True, True] Translation: X:200.48, Y:-44.80, Z:-23.84 [[ 8.30431493e-01 5.53777262e-01 6.09448991e-02 2.00477475e+02] [-5.52643853e-01 8.32654855e-01 -3.56463929e-02 -4.47972233e+01] [-7.04862280e-02 -4.07893657e-03 9.97504413e-01 -2.38411167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07629675700002 meters 0.07400382893485297 Centerline is valid? [True, True] Translation: X:200.50, Y:-44.82, Z:-23.84 [[ 8.31165468e-01 5.52583472e-01 6.17694950e-02 2.00502170e+02] [-5.51415385e-01 8.33447837e-01 -3.61355185e-02 -4.48170973e+01] [-7.14495423e-02 -4.02605472e-03 9.97436090e-01 -2.38419184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10629675700002 meters 0.07549086120716603 Centerline is valid? [True, True] Translation: X:200.53, Y:-44.83, Z:-23.85 [[ 8.31816758e-01 5.51649641e-01 6.13478110e-02 2.00530731e+02] [-5.50494872e-01 8.34066738e-01 -3.58897303e-02 -4.48287961e+01] [-7.09667255e-02 -3.91797626e-03 9.97470989e-01 -2.38486312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.13629675700003 meters 0.07452994892137169 Centerline is valid? [True, True] Translation: X:200.56, Y:-44.85, Z:-23.85 [[ 8.32897731e-01 5.50160977e-01 6.00355605e-02 2.00556533e+02] [-5.49050854e-01 8.35050403e-01 -3.51281005e-02 -4.48480156e+01] [-6.94588291e-02 -3.70446063e-03 9.97577941e-01 -2.38521209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.16629675700003 meters 0.07602331228723179 Centerline is valid? [True, True] Translation: X:200.58, Y:-44.86, Z:-23.86 [[ 8.33091702e-01 5.49873696e-01 5.99761252e-02 2.00584771e+02] [-5.48763623e-01 8.35239800e-01 -3.51135577e-02 -4.48599369e+01] [-6.94024686e-02 -3.65990217e-03 9.97582028e-01 -2.38601240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.19629675700003 meters 0.07335197327216499 Centerline is valid? [True, True] Translation: X:200.61, Y:-44.88, Z:-23.86 [[ 8.33679997e-01 5.49014039e-01 5.96761830e-02 2.00608665e+02] [-5.47911734e-01 8.35805560e-01 -3.49542108e-02 -4.48834663e+01] [-6.90680380e-02 -3.55665457e-03 9.97605612e-01 -2.38579003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.22629675700003 meters 0.07343598008903815 Centerline is valid? [True, True] Translation: X:200.64, Y:-44.90, Z:-23.86 [[ 8.33799662e-01 5.48836416e-01 5.96381692e-02 2.00636026e+02] [-5.47733676e-01 8.35922351e-01 -3.49520020e-02 -4.48995947e+01] [-6.90358102e-02 -3.52286620e-03 9.97607962e-01 -2.38624220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.25629675700003 meters 0.07475327566784301 Centerline is valid? [True, True] Translation: X:200.66, Y:-44.91, Z:-23.87 [[ 8.33843729e-01 5.48617297e-01 6.10220988e-02 2.00663764e+02] [-5.47460290e-01 8.36066000e-01 -3.57893171e-02 -4.49109589e+01] [-7.06531404e-02 -3.56447822e-03 9.97494576e-01 -2.38702046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.28629675700003 meters 0.07403193787601635 Centerline is valid? [True, True] Translation: X:200.69, Y:-44.93, Z:-23.87 [[ 8.33037807e-01 5.49782254e-01 6.15425541e-02 2.00689965e+02] [-5.48608074e-01 8.35299866e-01 -3.61014594e-02 -4.49299230e+01] [-7.12544289e-02 -3.68886150e-03 9.97451352e-01 -2.38711235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.31629675700003 meters 0.07473084962105707 Centerline is valid? [True, True] Translation: X:200.72, Y:-44.94, Z:-23.88 [[ 8.32078400e-01 5.51093636e-01 6.27800960e-02 2.00717681e+02] [-5.49873792e-01 8.34434486e-01 -3.68497218e-02 -4.49433553e+01] [-7.26935243e-02 -3.85927189e-03 9.97346859e-01 -2.38762617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.34629675700003 meters 0.07587004097215692 Centerline is valid? [True, True] Translation: X:200.74, Y:-44.96, Z:-23.88 [[ 8.30709776e-01 5.52928445e-01 6.47410437e-02 2.00744995e+02] [-5.51634795e-01 8.33218529e-01 -3.80254674e-02 -4.49573248e+01] [-7.49687997e-02 -4.12528488e-03 9.97177347e-01 -2.38820237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.37629675700003 meters 0.07596308142591959 Centerline is valid? [True, True] Translation: X:200.77, Y:-44.97, Z:-23.89 [[ 8.30012413e-01 5.53854274e-01 6.57635011e-02 2.00773129e+02] [-5.52521814e-01 8.32602669e-01 -3.86321188e-02 -4.49735625e+01] [-7.61514306e-02 -4.27063078e-03 9.97087118e-01 -2.38865402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.40629675700004 meters 0.07441895250477415 Centerline is valid? [True, True] Translation: X:200.80, Y:-44.99, Z:-23.89 [[ 8.29586205e-01 5.54463288e-01 6.60090246e-02 2.00797539e+02] [-5.53120831e-01 8.32196963e-01 -3.88015564e-02 -4.49947737e+01] [-7.64465483e-02 -4.32173065e-03 9.97064315e-01 -2.38878002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.43629675700004 meters 0.07441895250477415 Centerline is valid? [True, True] Translation: X:200.83, Y:-45.01, Z:-23.89 [[ 8.29427737e-01 5.54701395e-01 6.59999390e-02 2.00825334e+02] [-5.53358464e-01 8.32038250e-01 -3.88170026e-02 -4.50112053e+01] [-7.64463193e-02 -4.32572633e-03 9.97064315e-01 -2.38914217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.46629675700004 meters 0.07560558900606403 Centerline is valid? [True, True] Translation: X:200.85, Y:-45.03, Z:-23.90 [[ 8.29138185e-01 5.55086589e-01 6.63984029e-02 2.00852996e+02] [-5.53726278e-01 8.31781129e-01 -3.90814904e-02 -4.50258062e+01] [-7.69225497e-02 -4.36258444e-03 9.97027527e-01 -2.38962916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.49629675700004 meters 0.07659313086560543 Centerline is valid? [True, True] Translation: X:200.88, Y:-45.04, Z:-23.90 [[ 8.29194779e-01 5.55023568e-01 6.62182624e-02 2.00880260e+02] [-5.53669359e-01 8.31823336e-01 -3.89894670e-02 -4.50409149e+01] [-7.67219691e-02 -4.33316042e-03 9.97043110e-01 -2.39015214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.52629675700004 meters 0.0751034467832414 Centerline is valid? [True, True] Translation: X:200.90, Y:-45.06, Z:-23.90 [[ 8.30175609e-01 5.53483398e-01 6.68175622e-02 2.00903435e+02] [-5.52097516e-01 8.32849585e-01 -3.93687939e-02 -4.50633862e+01] [-7.74389527e-02 -4.20679769e-03 9.96988220e-01 -2.39027860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.55629675700004 meters 0.07439774408656526 Centerline is valid? [True, True] Translation: X:200.93, Y:-45.08, Z:-23.91 [[ 8.30796583e-01 5.52566903e-01 6.66847521e-02 2.00929833e+02] [-5.51183187e-01 8.33458419e-01 -3.92957775e-02 -4.50825541e+01] [-7.72925141e-02 -4.10871653e-03 9.96999993e-01 -2.39051466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.586296757 meters 0.07602731706763399 Centerline is valid? [True, True] Translation: X:200.96, Y:-45.09, Z:-23.91 [[ 8.31816899e-01 5.50829595e-01 6.83184059e-02 2.00957453e+02] [-5.49370698e-01 8.34607964e-01 -4.02664048e-02 -4.50946419e+01] [-7.91990131e-02 -4.03785439e-03 9.96850647e-01 -2.39121831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.61629675700001 meters 0.07442256065373043 Centerline is valid? [True, True] Translation: X:200.98, Y:-45.12, Z:-23.91 [[ 8.32320332e-01 5.50137392e-01 6.77621961e-02 2.00982313e+02] [-5.48699585e-01 8.35064882e-01 -3.99425673e-02 -4.51164631e+01] [-7.85597301e-02 -3.93607806e-03 9.96901638e-01 -2.39123681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.64629675700002 meters 0.07436977045288325 Centerline is valid? [True, True] Translation: X:201.01, Y:-45.13, Z:-23.92 [[ 8.32253886e-01 5.50092158e-01 6.89353818e-02 2.01009584e+02] [-5.48602037e-01 8.35094468e-01 -4.06575139e-02 -4.51333881e+01] [-7.99329356e-02 -3.98071695e-03 9.96792295e-01 -2.39167972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67629675700002 meters 0.07446270732147836 Centerline is valid? [True, True] Translation: X:201.04, Y:-45.15, Z:-23.92 [[ 8.32568692e-01 5.49521066e-01 6.96847977e-02 2.01035953e+02] [-5.47994388e-01 8.35470529e-01 -4.11235413e-02 -4.51500262e+01] [-8.08178471e-02 -3.94870503e-03 9.96721066e-01 -2.39201851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70629675700002 meters 0.07412625180387977 Centerline is valid? [True, True] Translation: X:201.06, Y:-45.17, Z:-23.92 [[ 8.32438468e-01 5.49729249e-01 6.95984904e-02 2.01063165e+02] [-5.48205518e-01 8.35333566e-01 -4.10918873e-02 -4.51681278e+01] [-8.07273676e-02 -3.94780877e-03 9.96728402e-01 -2.39232161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73629675700002 meters 0.07336476879100512 Centerline is valid? [True, True] Translation: X:201.09, Y:-45.19, Z:-23.93 [[ 8.33080339e-01 5.48666563e-01 7.03004315e-02 2.01089515e+02] [-5.47105314e-01 8.36032381e-01 -4.15407458e-02 -4.51856992e+01] [-8.15654553e-02 -3.85496107e-03 9.96660532e-01 -2.39271404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76629675700002 meters 0.07261301828539382 Centerline is valid? [True, True] Translation: X:201.12, Y:-45.20, Z:-23.93 [[ 8.33405143e-01 5.48129181e-01 7.06418278e-02 2.01115473e+02] [-5.46550918e-01 8.36384954e-01 -4.17409040e-02 -4.52038346e+01] [-8.19631695e-02 -3.82227173e-03 9.96628029e-01 -2.39298441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79629675700002 meters 0.07211193649356541 Centerline is valid? [True, True] Translation: X:201.14, Y:-45.22, Z:-23.93 [[ 8.34332362e-01 5.46797151e-01 7.00170359e-02 2.01141208e+02] [-5.45240149e-01 8.37257209e-01 -4.13949943e-02 -4.52218694e+01] [-8.12569330e-02 -3.63891574e-03 9.96686545e-01 -2.39332328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82629675700002 meters 0.07195515872284808 Centerline is valid? [True, True] Translation: X:201.17, Y:-45.24, Z:-23.94 [[ 8.35031089e-01 5.45765495e-01 6.97359669e-02 2.01168040e+02] [-5.44215521e-01 8.37930630e-01 -4.12519703e-02 -4.52392511e+01] [-8.09478047e-02 -3.50471787e-03 9.96712180e-01 -2.39363223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85629675700002 meters 0.07139402486946632 Centerline is valid? [True, True] Translation: X:201.20, Y:-45.26, Z:-23.94 [[ 8.35378167e-01 5.45365567e-01 6.87001971e-02 2.01195064e+02] [-5.43858340e-01 8.38191423e-01 -4.06601159e-02 -4.52584439e+01] [-7.97585431e-02 -3.39660201e-03 9.96808426e-01 -2.39382266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.88629675700003 meters 0.07201144069995274 Centerline is valid? [True, True] Translation: X:201.22, Y:-45.27, Z:-23.94 [[ 8.35400939e-01 5.45322384e-01 6.87660390e-02 2.01222080e+02] [-5.43809824e-01 8.38219619e-01 -4.07277038e-02 -4.52725510e+01] [-7.98507715e-02 -3.37168558e-03 9.96801127e-01 -2.39430925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.91629675700003 meters 0.07119655172380412 Centerline is valid? [True, True] Translation: X:201.25, Y:-45.29, Z:-23.94 [[ 8.35268423e-01 5.45740799e-01 6.70346246e-02 2.01248484e+02] [-5.44303354e-01 8.37947512e-01 -3.97218674e-02 -4.52911001e+01] [-7.78493405e-02 -3.30874945e-03 9.96959644e-01 -2.39440854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.94629675700003 meters 0.07143354107596961 Centerline is valid? [True, True] Translation: X:201.28, Y:-45.31, Z:-23.95 [[ 8.34118549e-01 5.47521039e-01 6.68353042e-02 2.01276392e+02] [-5.46095592e-01 8.36784844e-01 -3.96324259e-02 -4.53063779e+01] [-7.76263566e-02 -3.44032343e-03 9.96976586e-01 -2.39486162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.97629675700003 meters 0.07143810607728396 Centerline is valid? [True, True] Translation: X:201.30, Y:-45.32, Z:-23.95 [[ 8.33331258e-01 5.48772608e-01 6.63900610e-02 2.01304479e+02] [-5.47369570e-01 8.35964222e-01 -3.93747754e-02 -4.53223699e+01] [-7.71075138e-02 -3.52766806e-03 9.97016543e-01 -2.39517250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.00629675700003 meters 0.07187575504450962 Centerline is valid? [True, True] Translation: X:201.33, Y:-45.34, Z:-23.95 [[ 8.32050063e-01 5.50840718e-01 6.53237729e-02 2.01332257e+02] [-5.49488267e-01 8.34602394e-01 -3.87490524e-02 -4.53375216e+01] [-7.58639330e-02 -3.65349528e-03 9.97111486e-01 -2.39542789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.03629675700003 meters 0.07227543731585151 Centerline is valid? [True, True] Translation: X:201.36, Y:-45.35, Z:-23.96 [[ 8.29709693e-01 5.54482388e-01 6.42736852e-02 2.01360076e+02] [-5.53184101e-01 8.32186212e-01 -3.81242601e-02 -4.53513493e+01] [-7.46269053e-02 -3.92311265e-03 9.97203808e-01 -2.39575612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.06629675700003 meters 0.0742349357544903 Centerline is valid? [True, True] Translation: X:201.39, Y:-45.36, Z:-23.97 [[ 8.28611498e-01 5.56196839e-01 6.36243839e-02 2.01389622e+02] [-5.54927967e-01 8.31040880e-01 -3.77625117e-02 -4.53602302e+01] [-7.38778536e-02 -4.01649864e-03 9.97259209e-01 -2.39654178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.09629675700003 meters 0.07370049852879182 Centerline is valid? [True, True] Translation: X:201.42, Y:-45.38, Z:-23.97 [[ 8.26499243e-01 5.59507264e-01 6.20533945e-02 2.01415703e+02] [-5.58309273e-01 8.28814799e-01 -3.68345475e-02 -4.53780162e+01] [-7.20399686e-02 -4.20126003e-03 9.97392898e-01 -2.39652338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.12629675700003 meters 0.07397022478649917 Centerline is valid? [True, True] Translation: X:201.44, Y:-45.39, Z:-23.97 [[ 8.25839179e-01 5.60439721e-01 6.24257088e-02 2.01443558e+02] [-5.59228707e-01 8.28184085e-01 -3.70725573e-02 -4.53936079e+01] [-7.24769122e-02 -4.29427815e-03 9.97360846e-01 -2.39689516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.15629675700004 meters 0.07426026444740902 Centerline is valid? [True, True] Translation: X:201.47, Y:-45.41, Z:-23.97 [[ 8.25179196e-01 5.61331784e-01 6.31341628e-02 2.01470710e+02] [-5.60094125e-01 8.27579136e-01 -3.75145998e-02 -4.54098495e+01] [-7.33066531e-02 -4.40480636e-03 9.97299720e-01 -2.39722098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.18629675700004 meters 0.07494998462425916 Centerline is valid? [True, True] Translation: X:201.50, Y:-45.42, Z:-23.98 [[ 8.25078342e-01 5.61354780e-01 6.42381512e-02 2.01497868e+02] [-5.60071798e-01 8.27563211e-01 -3.81930947e-02 -4.54238559e+01] [-7.46010069e-02 -4.46568160e-03 9.97203463e-01 -2.39760166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.21629675700004 meters 0.07481538043609237 Centerline is valid? [True, True] Translation: X:201.53, Y:-45.44, Z:-23.98 [[ 8.24982133e-01 5.61424150e-01 6.48645084e-02 2.01525119e+02] [-5.60114751e-01 8.27515967e-01 -3.85848338e-02 -4.54407703e+01] [-7.53388739e-02 -4.49976946e-03 9.97147836e-01 -2.39796276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.24629675700004 meters 0.07474753184383932 Centerline is valid? [True, True] Translation: X:201.55, Y:-45.46, Z:-23.98 [[ 8.25953464e-01 5.60046325e-01 6.44126510e-02 2.01551381e+02] [-5.58749204e-01 8.28450009e-01 -3.83394033e-02 -4.54563674e+01] [-7.48345033e-02 -4.32395452e-03 9.97186593e-01 -2.39823373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.27629675700004 meters 0.07466430812468802 Centerline is valid? [True, True] Translation: X:201.58, Y:-45.47, Z:-23.99 [[ 8.26804333e-01 5.58734234e-01 6.48895312e-02 2.01577287e+02] [-5.57412249e-01 8.29336031e-01 -3.86436551e-02 -4.54727738e+01] [-7.54067593e-02 -4.21947809e-03 9.97143930e-01 -2.39862041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.30629675700004 meters 0.07426987016513607 Centerline is valid? [True, True] Translation: X:201.60, Y:-45.49, Z:-23.99 [[ 8.28068354e-01 5.56831011e-01 6.51308362e-02 2.01603009e+02] [-5.55492898e-01 8.30615897e-01 -3.87926868e-02 -4.54900643e+01] [-7.56996789e-02 -4.05672065e-03 9.97122411e-01 -2.39890788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.336296757 meters 0.07333698710386405 Centerline is valid? [True, True] Translation: X:201.63, Y:-45.51, Z:-23.99 [[ 8.30853531e-01 5.52521514e-01 6.63504742e-02 2.01626742e+02] [-5.51118840e-01 8.33490289e-01 -3.95216803e-02 -4.55094326e+01] [-7.71390546e-02 -3.73026872e-03 9.97013366e-01 -2.39920400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.36629675700001 meters 0.07205069148347694 Centerline is valid? [True, True] Translation: X:201.65, Y:-45.53, Z:-23.99 [[ 8.34078285e-01 5.47429849e-01 6.80733062e-02 2.01650297e+02] [-5.45936004e-01 8.36844911e-01 -4.05521268e-02 -4.55287687e+01] [-7.91662445e-02 -3.34002035e-03 9.96855832e-01 -2.39947091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.39629675700002 meters 0.07173718719947528 Centerline is valid? [True, True] Translation: X:201.68, Y:-45.55, Z:-24.00 [[ 8.35497663e-01 5.45238571e-01 6.82536164e-02 2.01675406e+02] [-5.43729055e-01 8.38275054e-01 -4.06650747e-02 -4.55459011e+01] [-7.93874712e-02 -3.13589947e-03 9.96838902e-01 -2.39987045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42629675700002 meters 0.07135297283003356 Centerline is valid? [True, True] Translation: X:201.70, Y:-45.56, Z:-24.00 [[ 8.36974462e-01 5.42995225e-01 6.80436282e-02 2.01701304e+02] [-5.41487405e-01 8.39730735e-01 -4.05423598e-02 -4.55638478e+01] [-7.91526337e-02 -2.91184786e-03 9.96858256e-01 -2.40022941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45629675700002 meters 0.0709296153698335 Centerline is valid? [True, True] Translation: X:201.72, Y:-45.58, Z:-24.01 [[ 8.39397448e-01 5.39398604e-01 6.67912485e-02 2.01724882e+02] [-5.37934099e-01 8.42046788e-01 -3.98009088e-02 -4.55825796e+01] [-7.77099110e-02 -2.52050880e-03 9.96972826e-01 -2.40066696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48629675700002 meters 0.07086343779570119 Centerline is valid? [True, True] Translation: X:201.75, Y:-45.60, Z:-24.01 [[ 8.40113148e-01 5.38312820e-01 6.65522818e-02 2.01751395e+02] [-5.36855711e-01 8.42741643e-01 -3.96543714e-02 -4.56005139e+01] [-7.74328357e-02 -2.41481378e-03 9.96994646e-01 -2.40114773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51629675700002 meters 0.0708135822608949 Centerline is valid? [True, True] Translation: X:201.78, Y:-45.62, Z:-24.01 [[ 8.41270322e-01 5.36463861e-01 6.68638260e-02 2.01776768e+02] [-5.34985122e-01 8.43920341e-01 -3.98669850e-02 -4.56190153e+01] [-7.78149396e-02 -2.23224080e-03 9.96965322e-01 -2.40147843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54629675700002 meters 0.07080102272725246 Centerline is valid? [True, True] Translation: X:201.80, Y:-45.64, Z:-24.02 [[ 8.41299275e-01 5.36457210e-01 6.65521678e-02 2.01804915e+02] [-5.34992545e-01 8.43924589e-01 -3.96770008e-02 -4.56365235e+01] [-7.74500241e-02 -2.22468160e-03 9.96993754e-01 -2.40186355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57629675700002 meters 0.0692752799125622 Centerline is valid? [True, True] Translation: X:201.83, Y:-45.66, Z:-24.01 [[ 8.41322350e-01 5.36405024e-01 6.66809839e-02 2.01828946e+02] [-5.34932741e-01 8.43957812e-01 -3.97765558e-02 -4.56599813e+01] [-7.76122816e-02 -2.20493609e-03 9.96981179e-01 -2.40136157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60629675700002 meters 0.06933289949420336 Centerline is valid? [True, True] Translation: X:201.86, Y:-45.68, Z:-24.02 [[ 8.40761389e-01 5.37419535e-01 6.55784314e-02 2.01856244e+02] [-5.35997024e-01 8.43312052e-01 -3.91404364e-02 -4.56759693e+01] [-7.63379167e-02 -2.24207638e-03 9.97079483e-01 -2.40167922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.63629675700003 meters 0.06947932794915457 Centerline is valid? [True, True] Translation: X:201.88, Y:-45.69, Z:-24.02 [[ 8.40010440e-01 5.38674545e-01 6.49014317e-02 2.01883236e+02] [-5.37283012e-01 8.42510773e-01 -3.87628964e-02 -4.56920203e+01] [-7.55607409e-02 -2.30919910e-03 9.97138527e-01 -2.40213710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.66629675700003 meters 0.06988522432050981 Centerline is valid? [True, True] Translation: X:201.91, Y:-45.71, Z:-24.03 [[ 8.38804725e-01 5.40685581e-01 6.37631156e-02 2.01910000e+02] [-5.39347616e-01 8.41221228e-01 -3.80919250e-02 -4.57065429e+01] [-7.42346410e-02 -2.43879769e-03 9.97237820e-01 -2.40261610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.69629675700003 meters 0.07008716555629499 Centerline is valid? [True, True] Translation: X:201.94, Y:-45.72, Z:-24.03 [[ 8.37905925e-01 5.42128061e-01 6.33310875e-02 2.01937413e+02] [-5.40811498e-01 8.40292041e-01 -3.78445479e-02 -4.57231133e+01] [-7.37332002e-02 -2.54000936e-03 9.97274768e-01 -2.40301078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.72629675700003 meters 0.07117705278486897 Centerline is valid? [True, True] Translation: X:201.96, Y:-45.74, Z:-24.04 [[ 8.35952208e-01 5.45157365e-01 6.31454894e-02 2.01964466e+02] [-5.43855495e-01 8.38329123e-01 -3.77555642e-02 -4.57375538e+01] [-7.35194266e-02 -2.78017409e-03 9.97289910e-01 -2.40356852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.75629675700003 meters 0.07131078679491595 Centerline is valid? [True, True] Translation: X:201.99, Y:-45.75, Z:-24.04 [[ 8.35201047e-01 5.46249006e-01 6.36493166e-02 2.01991914e+02] [-5.44928036e-01 8.37617877e-01 -3.80752919e-02 -4.57542006e+01] [-7.41123957e-02 -2.88377347e-03 9.97245725e-01 -2.40396140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.78629675700003 meters 0.07205242965176287 Centerline is valid? [True, True] Translation: X:202.02, Y:-45.77, Z:-24.04 [[ 8.33701128e-01 5.48561802e-01 6.34222336e-02 2.02019814e+02] [-5.47254812e-01 8.36104432e-01 -3.79677443e-02 -4.57699202e+01] [-7.38552648e-02 -3.05437134e-03 9.97264293e-01 -2.40438114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.81629675700003 meters 0.07118830886416315 Centerline is valid? [True, True] Translation: X:202.05, Y:-45.79, Z:-24.04 [[ 8.32445181e-01 5.50432955e-01 6.37070088e-02 2.02045371e+02] [-5.49119823e-01 8.34873095e-01 -3.81357391e-02 -4.57899116e+01] [-7.41784351e-02 -3.23686920e-03 9.97239732e-01 -2.40439547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.84629675700003 meters 0.07177430284087549 Centerline is valid? [True, True] Translation: X:202.07, Y:-45.80, Z:-24.05 [[ 8.30927054e-01 5.52619478e-01 6.45905835e-02 2.02071983e+02] [-5.51274431e-01 8.33426505e-01 -3.86880079e-02 -4.58048716e+01] [-7.52112510e-02 -3.46022473e-03 9.97161619e-01 -2.40481572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.87629675700003 meters 0.07213695725089746 Centerline is valid? [True, True] Translation: X:202.10, Y:-45.82, Z:-24.05 [[ 8.30386243e-01 5.53391927e-01 6.49312163e-02 2.02099649e+02] [-5.52033481e-01 8.32913500e-01 -3.89119289e-02 -4.58213022e+01] [-7.56156339e-02 -3.53227494e-03 9.97130783e-01 -2.40515927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.90629675700004 meters 0.07324950171929409 Centerline is valid? [True, True] Translation: X:202.13, Y:-45.83, Z:-24.06 [[ 8.30223840e-01 5.53538804e-01 6.57508046e-02 2.02127244e+02] [-5.52144219e-01 8.32815741e-01 -3.94297111e-02 -4.58340558e+01] [-7.65841801e-02 -3.56844052e-03 9.97056733e-01 -2.40583374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.93629675700004 meters 0.07163480186248022 Centerline is valid? [True, True] Translation: X:202.15, Y:-45.86, Z:-24.06 [[ 8.30835074e-01 5.52438614e-01 6.72655723e-02 2.02150726e+02] [-5.50974055e-01 8.33546095e-01 -4.03546573e-02 -4.58573718e+01] [-7.83624260e-02 -3.53352041e-03 9.96918675e-01 -2.40580053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.96629675700004 meters 0.07218286388322989 Centerline is valid? [True, True] Translation: X:202.18, Y:-45.87, Z:-24.06 [[ 8.31312815e-01 5.51446863e-01 6.94648213e-02 2.02177365e+02] [-5.49881337e-01 8.34202455e-01 -4.16746898e-02 -4.58720480e+01] [-8.09291014e-02 -3.55270517e-03 9.96713529e-01 -2.40624407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.99629675700004 meters 0.07221384915017197 Centerline is valid? [True, True] Translation: X:202.20, Y:-45.89, Z:-24.07 [[ 8.32551058e-01 5.49255933e-01 7.19489759e-02 2.02203320e+02] [-5.47566476e-01 8.35647091e-01 -4.31844072e-02 -4.58883224e+01] [-8.38432443e-02 -3.44362322e-03 9.96473006e-01 -2.40665566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.02629675700004 meters 0.07009336843130208 Centerline is valid? [True, True] Translation: X:202.23, Y:-45.91, Z:-24.07 [[ 8.32846375e-01 5.48685776e-01 7.28754735e-02 2.02226519e+02] [-5.46949089e-01 8.36021671e-01 -4.37545358e-02 -4.59118403e+01] [-8.49329665e-02 -3.41836731e-03 9.96380804e-01 -2.40659527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.05629675700004 meters 0.06990896264057582 Centerline is valid? [True, True] Translation: X:202.25, Y:-45.93, Z:-24.07 [[ 8.33418005e-01 5.47744436e-01 7.34197629e-02 2.02253096e+02] [-5.45975888e-01 8.36639090e-01 -4.41062650e-02 -4.59284514e+01] [-8.55848049e-02 -3.32646488e-03 9.96325336e-01 -2.40695352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.08629675700004 meters 0.07133245204086869 Centerline is valid? [True, True] Translation: X:202.28, Y:-45.94, Z:-24.08 [[ 8.34324642e-01 5.46326679e-01 7.36854917e-02 2.02281009e+02] [-5.44537595e-01 8.37566178e-01 -4.42911350e-02 -4.59416512e+01] [-8.59139044e-02 -3.17133518e-03 9.96297518e-01 -2.40765737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.11629675700001 meters 0.06954967508089678 Centerline is valid? [True, True] Translation: X:202.30, Y:-45.97, Z:-24.07 [[ 8.34479790e-01 5.46196991e-01 7.28857067e-02 2.02304930e+02] [-5.44444376e-01 8.37651000e-01 -4.38306314e-02 -4.59661004e+01] [-8.49929440e-02 -3.10643704e-03 9.96376711e-01 -2.40745547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.14629675700002 meters 0.06953205384528144 Centerline is valid? [True, True] Translation: X:202.33, Y:-45.98, Z:-24.08 [[ 8.34524727e-01 5.46092941e-01 7.31503972e-02 2.02332690e+02] [-5.44324645e-01 8.37718926e-01 -4.40191202e-02 -4.59823069e+01] [-8.53180030e-02 -3.08251967e-03 9.96349003e-01 -2.40794367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17629675700002 meters 0.06963227221039069 Centerline is valid? [True, True] Translation: X:202.36, Y:-46.00, Z:-24.08 [[ 8.34502620e-01 5.46262561e-01 7.21289938e-02 2.02359747e+02] [-5.44542020e-01 8.37608497e-01 -4.34280261e-02 -4.59989857e+01] [-8.41389628e-02 -3.03646643e-03 9.96449404e-01 -2.40836965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20629675700002 meters 0.06959545472664604 Centerline is valid? [True, True] Translation: X:202.39, Y:-46.02, Z:-24.09 [[ 8.34581466e-01 5.46221285e-01 7.15268141e-02 2.02386040e+02] [-5.44527382e-01 8.37635588e-01 -4.30877169e-02 -4.60178536e+01] [-8.34488331e-02 -2.98809891e-03 9.96507583e-01 -2.40875280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23629675700002 meters 0.06954714712488246 Centerline is valid? [True, True] Translation: X:202.41, Y:-46.03, Z:-24.09 [[ 8.34691271e-01 5.46030557e-01 7.17015526e-02 2.02412644e+02] [-5.44325218e-01 8.37760059e-01 -4.32219935e-02 -4.60344914e+01] [-8.36692261e-02 -2.95194252e-03 9.96489210e-01 -2.40915794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26629675700002 meters 0.06964535553695021 Centerline is valid? [True, True] Translation: X:202.44, Y:-46.05, Z:-24.09 [[ 8.34478215e-01 5.46384385e-01 7.14857486e-02 2.02439647e+02] [-5.44688603e-01 8.37529315e-01 -4.31158117e-02 -4.60522079e+01] [-8.34292162e-02 -2.95826691e-03 9.96509315e-01 -2.40947400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29629675700002 meters 0.06981745147561064 Centerline is valid? [True, True] Translation: X:202.47, Y:-46.07, Z:-24.10 [[ 8.33989148e-01 5.47119840e-01 7.15680268e-02 2.02467016e+02] [-5.45420822e-01 8.37048858e-01 -4.31895505e-02 -4.60686949e+01] [-8.35357951e-02 -3.01507561e-03 9.96500216e-01 -2.40992485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32629675700002 meters 0.06981745147561064 Centerline is valid? [True, True] Translation: X:202.49, Y:-46.09, Z:-24.10 [[ 8.33836028e-01 5.47354493e-01 7.15579378e-02 2.02494571e+02] [-5.45654904e-01 8.36895421e-01 -4.32062586e-02 -4.60854208e+01] [-8.35356502e-02 -3.01900465e-03 9.96500216e-01 -2.41028655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35629675700002 meters 0.06994840968379132 Centerline is valid? [True, True] Translation: X:202.52, Y:-46.10, Z:-24.11 [[ 8.33058695e-01 5.48587934e-01 7.11652268e-02 2.02522244e+02] [-5.46909099e-01 8.36087112e-01 -4.29974264e-02 -4.61003603e+01] [-8.30881983e-02 -3.10153015e-03 9.96537371e-01 -2.41077226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.38629675700003 meters 0.06995759687929137 Centerline is valid? [True, True] Translation: X:202.55, Y:-46.12, Z:-24.11 [[ 8.32612096e-01 5.49263538e-01 7.11804965e-02 2.02549386e+02] [-5.47584465e-01 8.35643252e-01 -4.30303269e-02 -4.61167054e+01] [-8.31164912e-02 -3.14976337e-03 9.96534860e-01 -2.41112612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.41629675700003 meters 0.07069678169230825 Centerline is valid? [True, True] Translation: X:202.58, Y:-46.13, Z:-24.12 [[ 8.31898568e-01 5.50186921e-01 7.23817994e-02 2.02577064e+02] [-5.48452027e-01 8.35035098e-01 -4.37808064e-02 -4.61308948e+01] [-8.45289701e-02 -3.27675440e-03 9.96415634e-01 -2.41172065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.44629675700003 meters 0.07022783813453917 Centerline is valid? [True, True] Translation: X:202.60, Y:-46.15, Z:-24.12 [[ 8.30548354e-01 5.52386604e-01 7.11229313e-02 2.02602563e+02] [-5.50717103e-01 8.33581062e-01 -4.30498001e-02 -4.61502036e+01] [-8.30668615e-02 -3.41367405e-03 9.96538129e-01 -2.41178709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.47629675700003 meters 0.07015004580038428 Centerline is valid? [True, True] Translation: X:202.63, Y:-46.17, Z:-24.12 [[ 8.30021887e-01 5.52937481e-01 7.29644418e-02 2.02629242e+02] [-5.51181955e-01 8.33215161e-01 -4.41695390e-02 -4.61670500e+01] [-8.52180727e-02 -3.55499953e-03 9.96355982e-01 -2.41212451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.50629675700003 meters 0.07063925090053978 Centerline is valid? [True, True] Translation: X:202.66, Y:-46.18, Z:-24.12 [[ 8.28530907e-01 5.54972057e-01 7.44483144e-02 2.02656643e+02] [-5.53150144e-01 8.31860223e-01 -4.50942150e-02 -4.61808020e+01] [-8.69566206e-02 -3.81914495e-03 9.96204778e-01 -2.41246400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.53629675700003 meters 0.07058034392281534 Centerline is valid? [True, True] Translation: X:202.68, Y:-46.20, Z:-24.13 [[ 8.28097384e-01 5.55671870e-01 7.40506263e-02 2.02684090e+02] [-5.53870236e-01 8.31392764e-01 -4.48757624e-02 -4.61969984e+01] [-8.65013537e-02 -3.85293636e-03 9.96244283e-01 -2.41283851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.56629675700003 meters 0.07226033109726027 Centerline is valid? [True, True] Translation: X:202.71, Y:-46.21, Z:-24.13 [[ 8.26596292e-01 5.57941324e-01 7.37566866e-02 2.02712528e+02] [-5.56160616e-01 8.29870512e-01 -4.47247500e-02 -4.62084109e+01] [-8.61622855e-02 -4.05125166e-03 9.96272878e-01 -2.41337693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.59629675700003 meters 0.0710615981052518 Centerline is valid? [True, True] Translation: X:202.74, Y:-46.23, Z:-24.14 [[ 8.25962593e-01 5.58925556e-01 7.34031183e-02 2.02737823e+02] [-5.57164599e-01 8.29207591e-01 -4.45239469e-02 -4.62279537e+01] [-8.57519946e-02 -4.12250424e-03 9.96307985e-01 -2.41354649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.62629675700003 meters 0.07211363351898663 Centerline is valid? [True, True] Translation: X:202.77, Y:-46.24, Z:-24.14 [[ 8.24965418e-01 5.60256463e-01 7.44631145e-02 2.02766368e+02] [-5.58447296e-01 8.28308033e-01 -4.51931413e-02 -4.62394499e+01] [-8.69981454e-02 -4.30094620e-03 9.96199189e-01 -2.41400676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.65629675700004 meters 0.07222789487311862 Centerline is valid? [True, True] Translation: X:202.79, Y:-46.26, Z:-24.14 [[ 8.25018575e-01 5.60284071e-01 7.36621377e-02 2.02794553e+02] [-5.58511937e-01 8.28289676e-01 -4.47283927e-02 -4.62554001e+01] [-8.60741941e-02 -4.23942842e-03 9.96279710e-01 -2.41432812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.68629675700004 meters 0.07216132392841314 Centerline is valid? [True, True] Translation: X:202.82, Y:-46.27, Z:-24.15 [[ 8.25572770e-01 5.59492810e-01 7.34669809e-02 2.02821855e+02] [-5.57724500e-01 8.28824953e-01 -4.46383166e-02 -4.62721363e+01] [-8.58660842e-02 -4.12215647e-03 9.96298160e-01 -2.41470413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.71629675700004 meters 0.0711477384056396 Centerline is valid? [True, True] Translation: X:202.85, Y:-46.29, Z:-24.15 [[ 8.26320649e-01 5.58313434e-01 7.40290136e-02 2.02847243e+02] [-5.56511054e-01 8.29620414e-01 -4.50046208e-02 -4.62910116e+01] [-8.65426653e-02 -4.00971694e-03 9.96240076e-01 -2.41492788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.74629675700004 meters 0.07093562956214168 Centerline is valid? [True, True] Translation: X:202.87, Y:-46.31, Z:-24.15 [[ 8.27125393e-01 5.57169940e-01 7.36562483e-02 2.02874519e+02] [-5.55379032e-01 8.30389571e-01 -4.48028176e-02 -4.63085768e+01] [-8.61261635e-02 -3.84958776e-03 9.96276801e-01 -2.41524979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.77629675700004 meters 0.0703735688284358 Centerline is valid? [True, True] Translation: X:202.90, Y:-46.33, Z:-24.16 [[ 8.29140070e-01 5.54017036e-01 7.47787892e-02 2.02899713e+02] [-5.52157182e-01 8.32497693e-01 -4.54976581e-02 -4.63264210e+01] [-8.74596472e-02 -3.56571408e-03 9.96161682e-01 -2.41551657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.80629675700004 meters 0.06983906785844117 Centerline is valid? [True, True] Translation: X:202.93, Y:-46.34, Z:-24.16 [[ 8.30287115e-01 5.52393936e-01 7.40556981e-02 2.02926335e+02] [-5.50561912e-01 8.33576476e-01 -4.50759278e-02 -4.63446794e+01] [-8.66307571e-02 -3.34628470e-03 9.96234869e-01 -2.41580845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.83629675700004 meters 0.06903038742335554 Centerline is valid? [True, True] Translation: X:202.95, Y:-46.36, Z:-24.16 [[ 8.33042532e-01 5.48211116e-01 7.41937477e-02 2.02950972e+02] [-5.46353443e-01 8.36334977e-01 -4.51854154e-02 -4.63640171e+01] [-8.68219732e-02 -2.89463664e-03 9.96219637e-01 -2.41610033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.86629675700001 meters 0.06895556709346456 Centerline is valid? [True, True] Translation: X:202.98, Y:-46.38, Z:-24.17 [[ 8.34321969e-01 5.46402943e-01 7.31483095e-02 2.02977370e+02] [-5.44588690e-01 8.37518236e-01 -4.45686415e-02 -4.63805408e+01] [-8.56154801e-02 -2.65114526e-03 9.96324727e-01 -2.41651279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.89629675700002 meters 0.06843242865784835 Centerline is valid? [True, True] Translation: X:203.00, Y:-46.40, Z:-24.17 [[ 8.36977193e-01 5.42471805e-01 7.20660723e-02 2.03002504e+02] [-5.40694070e-01 8.40071149e-01 -4.39361722e-02 -4.64001837e+01] [-8.43747628e-02 -2.19212384e-03 9.96431681e-01 -2.41689973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92629675700002 meters 0.068294555346126 Centerline is valid? [True, True] Translation: X:203.03, Y:-46.42, Z:-24.17 [[ 8.37837476e-01 5.41309530e-01 7.07979967e-02 2.03028832e+02] [-5.39589895e-01 8.40820928e-01 -4.31614688e-02 -4.64172278e+01] [-8.28921517e-02 -2.03958757e-03 9.96556437e-01 -2.41730772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95629675700002 meters 0.06800725779577055 Centerline is valid? [True, True] Translation: X:203.06, Y:-46.44, Z:-24.17 [[ 8.39065869e-01 5.39486454e-01 7.01629005e-02 2.03055204e+02] [-5.37789195e-01 8.41992308e-01 -4.27987756e-02 -4.64359068e+01] [-8.21659822e-02 -1.82185785e-03 9.96616994e-01 -2.41743313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98629675700002 meters 0.06831891049764742 Centerline is valid? [True, True] Translation: X:203.08, Y:-46.45, Z:-24.18 [[ 8.39679969e-01 5.38481494e-01 7.05353165e-02 2.03082754e+02] [-5.36760539e-01 8.42635598e-01 -4.30508187e-02 -4.64492190e+01] [-8.26176378e-02 -1.71166443e-03 9.96579849e-01 -2.41818292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01629675700002 meters 0.06819633752268527 Centerline is valid? [True, True] Translation: X:203.11, Y:-46.47, Z:-24.19 [[ 8.40095432e-01 5.37819787e-01 7.06366934e-02 2.03110093e+02] [-5.36089704e-01 8.43058254e-01 -4.31347931e-02 -4.64661895e+01] [-8.27495926e-02 -1.63026138e-03 9.96569038e-01 -2.41858874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04629675700002 meters 0.06763784022047875 Centerline is valid? [True, True] Translation: X:203.14, Y:-46.49, Z:-24.19 [[ 8.41060455e-01 5.36559891e-01 6.87080350e-02 2.03136524e+02] [-5.34917262e-01 8.43861001e-01 -4.19777808e-02 -4.64850304e+01] [-8.05036246e-02 -1.44726256e-03 9.96753265e-01 -2.41860484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07629675700002 meters 0.06782295067904318 Centerline is valid? [True, True] Translation: X:203.16, Y:-46.50, Z:-24.19 [[ 8.41543577e-01 5.35883660e-01 6.80669627e-02 2.03163639e+02] [-5.34267633e-01 8.44290754e-01 -4.16079161e-02 -4.65015381e+01] [-7.97653097e-02 -1.35110056e-03 9.96812756e-01 -2.41898139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10629675700002 meters 0.06782843113670262 Centerline is valid? [True, True] Translation: X:203.19, Y:-46.52, Z:-24.19 [[ 8.41595532e-01 5.35843808e-01 6.77375418e-02 2.03191859e+02] [-5.34241427e-01 8.44316095e-01 -4.14298097e-02 -4.65178322e+01] [-7.93918038e-02 -1.32105825e-03 9.96842614e-01 -2.41937550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.13629675700003 meters 0.06791995881782978 Centerline is valid? [True, True] Translation: X:203.22, Y:-46.53, Z:-24.20 [[ 8.41263994e-01 5.36369822e-01 6.76927291e-02 2.03220023e+02] [-5.34769228e-01 8.43981988e-01 -4.14279669e-02 -4.65339286e+01] [-7.93521553e-02 -1.34813158e-03 9.96845734e-01 -2.41985636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.16629675700003 meters 0.06798548828885921 Centerline is valid? [True, True] Translation: X:203.25, Y:-46.55, Z:-24.20 [[ 8.40565973e-01 5.37579405e-01 6.67624725e-02 2.03248091e+02] [-5.36024285e-01 8.43211935e-01 -4.08851842e-02 -4.65482154e+01] [-7.82739467e-02 -1.41961193e-03 9.96930877e-01 -2.42020436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.19629675700003 meters 0.06780763928277078 Centerline is valid? [True, True] Translation: X:203.28, Y:-46.57, Z:-24.20 [[ 8.39776992e-01 5.38776402e-01 6.70417233e-02 2.03276148e+02] [-5.37210593e-01 8.42447430e-01 -4.10744101e-02 -4.65654446e+01] [-7.86090504e-02 -1.52217939e-03 9.96904359e-01 -2.42038788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.22629675700003 meters 0.06774121232458669 Centerline is valid? [True, True] Translation: X:203.30, Y:-46.58, Z:-24.21 [[ 8.39377499e-01 5.39503189e-01 6.61945778e-02 2.03303457e+02] [-5.37976877e-01 8.41982135e-01 -4.05828002e-02 -4.65807281e+01] [-7.76292021e-02 -1.54686287e-03 9.96981100e-01 -2.42082432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.25629675700003 meters 0.06776387401015739 Centerline is valid? [True, True] Translation: X:203.33, Y:-46.60, Z:-24.21 [[ 8.39300454e-01 5.39607302e-01 6.63227497e-02 2.03330091e+02] [-5.38073848e-01 8.41915423e-01 -4.06811330e-02 -4.65970760e+01] [-7.77899823e-02 -1.54284380e-03 9.96968574e-01 -2.42136899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.28629675700003 meters 0.06760993383792836 Centerline is valid? [True, True] Translation: X:203.36, Y:-46.61, Z:-24.22 [[ 8.39221669e-01 5.39671580e-01 6.67950357e-02 2.03357663e+02] [-5.38114398e-01 8.41874230e-01 -4.09960554e-02 -4.66139856e+01] [-7.83574252e-02 -1.53859242e-03 9.96924143e-01 -2.42168520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.31629675700003 meters 0.06733037682955383 Centerline is valid? [True, True] Translation: X:203.38, Y:-46.63, Z:-24.22 [[ 8.38692802e-01 5.40361053e-01 6.78551140e-02 2.03384514e+02] [-5.38754271e-01 8.41431725e-01 -4.16711874e-02 -4.66290043e+01] [-7.96129323e-02 -1.60790754e-03 9.96824556e-01 -2.42215158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.34629675700003 meters 0.06734451158648862 Centerline is valid? [True, True] Translation: X:203.41, Y:-46.64, Z:-24.23 [[ 8.37902840e-01 5.41374758e-01 6.95140426e-02 2.03412662e+02] [-5.39689982e-01 8.40779631e-01 -4.27122430e-02 -4.66444177e+01] [-8.15693213e-02 -1.72732268e-03 9.96666174e-01 -2.42255297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.37629675700003 meters 0.06737405416516923 Centerline is valid? [True, True] Translation: X:203.44, Y:-46.66, Z:-24.23 [[ 8.36923788e-01 5.42738145e-01 7.06673780e-02 2.03440548e+02] [-5.40999669e-01 8.39899880e-01 -4.34459362e-02 -4.66584717e+01] [-8.29332892e-02 -1.87009059e-03 9.96553346e-01 -2.42278547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.40629675700004 meters 0.06723659442426033 Centerline is valid? [True, True] Translation: X:203.47, Y:-46.67, Z:-24.23 [[ 8.36145833e-01 5.43827743e-01 7.14949756e-02 2.03469195e+02] [-5.42050444e-01 8.39194525e-01 -4.39757303e-02 -4.66747059e+01] [-8.39134143e-02 -1.98375961e-03 9.96471075e-01 -2.42310166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.43629675700004 meters 0.06736339312106794 Centerline is valid? [True, True] Translation: X:203.50, Y:-46.69, Z:-24.23 [[ 8.35104488e-01 5.45298925e-01 7.24539688e-02 2.03497248e+02] [-5.43476609e-01 8.38238940e-01 -4.45943468e-02 -4.66890223e+01] [-8.50509874e-02 -2.13609810e-03 9.96374311e-01 -2.42343086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.46629675700004 meters 0.06743510802459257 Centerline is valid? [True, True] Translation: X:203.53, Y:-46.70, Z:-24.24 [[ 8.34774186e-01 5.45802523e-01 7.24683739e-02 2.03525736e+02] [-5.43979214e-01 8.37911041e-01 -4.46284938e-02 -4.67048869e+01] [-8.50803951e-02 -2.16657450e-03 9.96371734e-01 -2.42379548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.49629675700004 meters 0.0672781378907289 Centerline is valid? [True, True] Translation: X:203.55, Y:-46.72, Z:-24.24 [[ 8.34446004e-01 5.46277774e-01 7.26667809e-02 2.03553974e+02] [-5.44443933e-01 8.37601194e-01 -4.47777068e-02 -4.67226662e+01] [-8.53268484e-02 -2.19840945e-03 9.96350589e-01 -2.42380984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.52629675700004 meters 0.06756053775057454 Centerline is valid? [True, True] Translation: X:203.58, Y:-46.74, Z:-24.24 [[ 8.34121807e-01 5.46690069e-01 7.32855992e-02 2.03581176e+02] [-5.44823490e-01 8.37332066e-01 -4.51926512e-02 -4.67371728e+01] [-8.60707558e-02 -2.23154001e-03 9.96286528e-01 -2.42430473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.55629675700004 meters 0.06728875189569494 Centerline is valid? [True, True] Translation: X:203.61, Y:-46.76, Z:-24.24 [[ 8.34351423e-01 5.46472270e-01 7.22894199e-02 2.03607293e+02] [-5.44654475e-01 8.37474387e-01 -4.45887184e-02 -4.67554881e+01] [-8.49070358e-02 -2.17009540e-03 9.96386514e-01 -2.42449171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.58629675700004 meters 0.06727177860630426 Centerline is valid? [True, True] Translation: X:203.63, Y:-46.77, Z:-24.25 [[ 8.33775509e-01 5.47263266e-01 7.29473647e-02 2.03634787e+02] [-5.45413074e-01 8.36957498e-01 -4.50191721e-02 -4.67719240e+01] [-8.56911829e-02 -2.25056329e-03 9.96319204e-01 -2.42501232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.61629675700001 meters 0.06733258229999264 Centerline is valid? [True, True] Translation: X:203.66, Y:-46.79, Z:-24.25 [[ 8.33342172e-01 5.47853411e-01 7.34674324e-02 2.03662828e+02] [-5.45976446e-01 8.36571177e-01 -4.53694305e-02 -4.67883038e+01] [-8.63165336e-02 -2.30322790e-03 9.96265101e-01 -2.42544478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.64629675700002 meters 0.06748109364393746 Centerline is valid? [True, True] Translation: X:203.69, Y:-46.80, Z:-24.26 [[ 8.32512012e-01 5.49038633e-01 7.40292447e-02 2.03690490e+02] [-5.47134814e-01 8.35793471e-01 -4.57467869e-02 -4.68030742e+01] [-8.69899128e-02 -2.41922744e-03 9.96206255e-01 -2.42591026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.67629675700002 meters 0.06749439100945863 Centerline is valid? [True, True] Translation: X:203.72, Y:-46.82, Z:-24.26 [[ 8.31897695e-01 5.50127312e-01 7.28434258e-02 2.03718437e+02] [-5.48286141e-01 8.35077141e-01 -4.50386008e-02 -4.68188299e+01] [-8.56068441e-02 -2.47153263e-03 9.96325930e-01 -2.42632336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70629675700002 meters 0.06804490012394836 Centerline is valid? [True, True] Translation: X:203.75, Y:-46.83, Z:-24.27 [[ 8.30979814e-01 5.51606342e-01 7.21317759e-02 2.03745489e+02] [-5.49804236e-01 8.34100602e-01 -4.46261006e-02 -4.68329482e+01] [-8.47811978e-02 -2.57496720e-03 9.96396266e-01 -2.42679905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73629675700002 meters 0.06824030298071154 Centerline is valid? [True, True] Translation: X:203.77, Y:-46.85, Z:-24.27 [[ 8.30331927e-01 5.52661819e-01 7.15108719e-02 2.03772334e+02] [-5.50893587e-01 8.33401399e-01 -4.42533998e-02 -4.68483633e+01] [-8.40544251e-02 -2.64987001e-03 9.96457642e-01 -2.42724804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76629675700002 meters 0.06847369921305166 Centerline is valid? [True, True] Translation: X:203.80, Y:-46.86, Z:-24.28 [[ 8.29996900e-01 5.53257190e-01 7.07928502e-02 2.03798770e+02] [-5.51524676e-01 8.33006232e-01 -4.38309181e-02 -4.68643412e+01] [-8.32206559e-02 -2.66447768e-03 9.96527583e-01 -2.42757963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79629675700002 meters 0.06876379446633785 Centerline is valid? [True, True] Translation: X:203.83, Y:-46.88, Z:-24.28 [[ 8.29588199e-01 5.53858449e-01 7.08818586e-02 2.03827120e+02] [-5.52122044e-01 8.32606431e-01 -4.39064930e-02 -4.68813654e+01] [-8.33346734e-02 -2.71112821e-03 9.96517929e-01 -2.42804185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82629675700002 meters 0.06919722847167165 Centerline is valid? [True, True] Translation: X:203.85, Y:-46.90, Z:-24.28 [[ 8.28619226e-01 5.55391853e-01 7.02144422e-02 2.03854008e+02] [-5.53690943e-01 8.31584020e-01 -4.35242213e-02 -4.68955956e+01] [-8.25622060e-02 -2.81209419e-03 9.96581946e-01 -2.42843064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85629675700002 meters 0.06955112973275152 Centerline is valid? [True, True] Translation: X:203.88, Y:-46.91, Z:-24.29 [[ 8.27695939e-01 5.56815292e-01 6.98295382e-02 2.03881381e+02] [-5.55137301e-01 8.30631173e-01 -4.32947024e-02 -4.69109342e+01] [-8.21097435e-02 -2.93013208e-03 9.96618987e-01 -2.42887164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.88629675700003 meters 0.06918993055488984 Centerline is valid? [True, True] Translation: X:203.91, Y:-46.93, Z:-24.29 [[ 8.26054202e-01 5.59176323e-01 7.04009610e-02 2.03907345e+02] [-5.57477481e-01 8.29042684e-01 -4.36701990e-02 -4.69289674e+01] [-8.27847430e-02 -3.17299905e-03 9.96562401e-01 -2.42896988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.91629675700003 meters 0.07050124318979055 Centerline is valid? [True, True] Translation: X:203.94, Y:-46.94, Z:-24.30 [[ 8.25156953e-01 5.60522595e-01 7.02169716e-02 2.03936030e+02] [-5.58835654e-01 8.28132632e-01 -4.35781593e-02 -4.69412962e+01] [-8.25755085e-02 -3.28092607e-03 9.96579410e-01 -2.42951812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.94629675700003 meters 0.06931548874930167 Centerline is valid? [True, True] Translation: X:203.96, Y:-46.96, Z:-24.30 [[ 8.24445502e-01 5.61504563e-01 7.07265198e-02 2.03960828e+02] [-5.59794816e-01 8.27466712e-01 -4.39158770e-02 -4.69626561e+01] [-8.31828062e-02 -3.38609183e-03 9.96528552e-01 -2.42951083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.97629675700003 meters 0.06993205833614694 Centerline is valid? [True, True] Translation: X:203.99, Y:-46.98, Z:-24.30 [[ 8.23735653e-01 5.62644512e-01 6.99337267e-02 2.03987982e+02] [-5.60975002e-01 8.26691787e-01 -4.34480985e-02 -4.69771422e+01] [-8.22594716e-02 -3.44132465e-03 9.96605005e-01 -2.42998523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.00629675700003 meters 0.07163255668714642 Centerline is valid? [True, True] Translation: X:204.02, Y:-46.99, Z:-24.31 [[ 8.23617224e-01 5.62833629e-01 6.98066967e-02 2.04017639e+02] [-5.61169118e-01 8.26563064e-01 -4.33903589e-02 -4.69889320e+01] [-8.21211903e-02 -3.43631549e-03 9.96616427e-01 -2.43079364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.03629675700003 meters 0.07063925324634633 Centerline is valid? [True, True] Translation: X:204.04, Y:-47.01, Z:-24.31 [[ 8.23524718e-01 5.63052150e-01 6.91325925e-02 2.04041684e+02] [-5.61418350e-01 8.26414360e-01 -4.29969862e-02 -4.70103434e+01] [-8.13417127e-02 -3.40322509e-03 9.96680462e-01 -2.43093256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.06629675700003 meters 0.07167826987157994 Centerline is valid? [True, True] Translation: X:204.07, Y:-47.02, Z:-24.32 [[ 8.23868591e-01 5.62536452e-01 6.92335571e-02 2.04069068e+02] [-5.60894124e-01 8.26765747e-01 -4.30834245e-02 -4.70237268e+01] [-8.14759303e-02 -3.33761509e-03 9.96669721e-01 -2.43161369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.09629675700003 meters 0.07013163289728554 Centerline is valid? [True, True] Translation: X:204.09, Y:-47.05, Z:-24.31 [[ 8.24016988e-01 5.62261610e-01 6.96985272e-02 2.04092237e+02] [-5.60594443e-01 8.26952772e-01 -4.33933563e-02 -4.70483948e+01] [-8.20358087e-02 -3.31574419e-03 9.96623867e-01 -2.43140907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.12629675700003 meters 0.06974380339249203 Centerline is valid? [True, True] Translation: X:204.12, Y:-47.07, Z:-24.32 [[ 8.23753768e-01 5.62550426e-01 7.04751588e-02 2.04119000e+02] [-5.60844855e-01 8.26756142e-01 -4.39013790e-02 -4.70666888e+01] [-8.29625098e-02 -3.36170380e-03 9.96546999e-01 -2.43162670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.15629675700004 meters 0.06986433424894789 Centerline is valid? [True, True] Translation: X:204.15, Y:-47.08, Z:-24.32 [[ 8.23785799e-01 5.62436284e-01 7.10097407e-02 2.04145931e+02] [-5.60702135e-01 8.26833824e-01 -4.42599448e-02 -4.70825639e+01] [-8.36066543e-02 -3.35459921e-03 9.96493188e-01 -2.43201297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.18629675700004 meters 0.07059880371694482 Centerline is valid? [True, True] Translation: X:204.17, Y:-47.10, Z:-24.33 [[ 8.23354791e-01 5.63143917e-01 7.03975621e-02 2.04173646e+02] [-5.61440300e-01 8.26351933e-01 -4.39007154e-02 -4.70968545e+01] [-8.28955824e-02 -3.37816401e-03 9.96552513e-01 -2.43253208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.21629675700004 meters 0.07003781921746595 Centerline is valid? [True, True] Translation: X:204.20, Y:-47.12, Z:-24.33 [[ 8.22934726e-01 5.63763525e-01 7.03500168e-02 2.04199003e+02] [-5.62062679e-01 8.25929167e-01 -4.38925534e-02 -4.71161794e+01] [-8.28491514e-02 -3.42041248e-03 9.96556230e-01 -2.43269697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.24629675700004 meters 0.07003781921746595 Centerline is valid? [True, True] Translation: X:204.23, Y:-47.13, Z:-24.33 [[ 8.22773401e-01 5.64000247e-01 7.03395539e-02 2.04226319e+02] [-5.62298833e-01 8.25767519e-01 -4.39093128e-02 -4.71333115e+01] [-8.28489822e-02 -3.42443444e-03 9.96556230e-01 -2.43305876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.27629675700004 meters 0.07031565426945088 Centerline is valid? [True, True] Translation: X:204.25, Y:-47.15, Z:-24.34 [[ 8.22151291e-01 5.65070573e-01 6.90108835e-02 2.04252825e+02] [-5.63434323e-01 8.25035396e-01 -4.31086763e-02 -4.71500265e+01] [-8.12958660e-02 -3.44124656e-03 9.96684072e-01 -2.43350911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.30629675700004 meters 0.07090621421200648 Centerline is valid? [True, True] Translation: X:204.28, Y:-47.17, Z:-24.34 [[ 8.21496117e-01 5.66137198e-01 6.80646962e-02 2.04278598e+02] [-5.64547167e-01 8.24303697e-01 -4.25430537e-02 -4.71658759e+01] [-8.01911859e-02 -3.47677803e-03 9.96773438e-01 -2.43404034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.33629675700004 meters 0.0709381676944027 Centerline is valid? [True, True] Translation: X:204.31, Y:-47.18, Z:-24.34 [[ 8.21317256e-01 5.66425566e-01 6.78236184e-02 2.04305634e+02] [-5.64847191e-01 8.24105529e-01 -4.23996185e-02 -4.71825694e+01] [-7.99100469e-02 -3.48644206e-03 9.96795982e-01 -2.43449855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.36629675700001 meters 0.07076673317277618 Centerline is valid? [True, True] Translation: X:204.33, Y:-47.20, Z:-24.35 [[ 8.21188921e-01 5.66645571e-01 6.75392670e-02 2.04333263e+02] [-5.65079455e-01 8.23954319e-01 -4.22432292e-02 -4.72009621e+01] [-7.95862094e-02 -3.47538035e-03 9.96821928e-01 -2.43486712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.39629675700002 meters 0.07032200197288582 Centerline is valid? [True, True] Translation: X:204.36, Y:-47.22, Z:-24.35 [[ 8.20897725e-01 5.67088128e-01 6.73645249e-02 2.04358494e+02] [-5.65529376e-01 8.23649745e-01 -4.21618621e-02 -4.72200044e+01] [-7.93942653e-02 -3.48604103e-03 9.96837197e-01 -2.43512254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42629675700002 meters 0.0706405453254644 Centerline is valid? [True, True] Translation: X:204.39, Y:-47.24, Z:-24.36 [[ 8.20496279e-01 5.67674003e-01 6.73207377e-02 2.04385154e+02] [-5.66117502e-01 8.23245905e-01 -4.21563073e-02 -4.72357360e+01] [-7.93525613e-02 -3.52235462e-03 9.96840390e-01 -2.43552830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45629675700002 meters 0.07205282699430468 Centerline is valid? [True, True] Translation: X:204.41, Y:-47.25, Z:-24.36 [[ 8.20046621e-01 5.68368712e-01 6.69368877e-02 2.04413291e+02] [-5.66830542e-01 8.22766307e-01 -4.19373536e-02 -4.72490318e+01] [-7.89092955e-02 -3.55128717e-03 9.96875474e-01 -2.43620148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48629675700002 meters 0.07074566636905115 Centerline is valid? [True, True] Translation: X:204.44, Y:-47.27, Z:-24.36 [[ 8.19744531e-01 5.68739597e-01 6.74846257e-02 2.04437484e+02] [-5.67175690e-01 8.22509767e-01 -4.23015308e-02 -4.72709278e+01] [-7.95653193e-02 -3.59919059e-03 9.96823157e-01 -2.43627849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51629675700002 meters 0.07137127658834885 Centerline is valid? [True, True] Translation: X:204.46, Y:-47.29, Z:-24.37 [[ 8.19343635e-01 5.69349017e-01 6.72138642e-02 2.04464603e+02] [-5.67797808e-01 8.22087929e-01 -4.21555077e-02 -4.72857831e+01] [-7.92569032e-02 -3.62403783e-03 9.96847636e-01 -2.43672488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54629675700002 meters 0.0705267105473282 Centerline is valid? [True, True] Translation: X:204.49, Y:-47.31, Z:-24.37 [[ 8.19166570e-01 5.69633245e-01 6.69633939e-02 2.04489491e+02] [-5.68092927e-01 8.21891023e-01 -4.20187193e-02 -4.73073776e+01] [-7.89718718e-02 -3.62110019e-03 9.96870268e-01 -2.43685556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57629675700002 meters 0.07072997034815359 Centerline is valid? [True, True] Translation: X:204.52, Y:-47.33, Z:-24.37 [[ 8.19099509e-01 5.69932956e-01 6.52105805e-02 2.04515967e+02] [-5.68471120e-01 8.21683612e-01 -4.09466464e-02 -4.73255120e+01] [-7.69193085e-02 -3.53095380e-03 9.97031069e-01 -2.43717343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60629675700002 meters 0.0707582720709073 Centerline is valid? [True, True] Translation: X:204.54, Y:-47.34, Z:-24.37 [[ 8.19241636e-01 5.69682614e-01 6.56114410e-02 2.04542285e+02] [-5.68201694e-01 8.21857215e-01 -4.12013763e-02 -4.73441188e+01] [-7.73949440e-02 -3.52664897e-03 9.96994276e-01 -2.43742727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.63629675700003 meters 0.07077882339917192 Centerline is valid? [True, True] Translation: X:204.57, Y:-47.36, Z:-24.38 [[ 8.19138894e-01 5.69909505e-01 6.49201684e-02 2.04568277e+02] [-5.68458681e-01 8.21700042e-01 -4.07893127e-02 -4.73621240e+01] [-7.65911221e-02 -3.49232081e-03 9.97056470e-01 -2.43772162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.66629675700003 meters 0.07091540047721395 Centerline is valid? [True, True] Translation: X:204.59, Y:-47.38, Z:-24.38 [[ 8.19516250e-01 5.69325265e-01 6.52829120e-02 2.04594232e+02] [-5.67854560e-01 8.22105176e-01 -4.10399592e-02 -4.73797231e+01] [-7.70345055e-02 -3.43828580e-03 9.97022499e-01 -2.43801863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.69629675700003 meters 0.0703815024682095 Centerline is valid? [True, True] Translation: X:204.62, Y:-47.40, Z:-24.38 [[ 8.19638538e-01 5.69215643e-01 6.47010032e-02 2.04620877e+02] [-5.67769177e-01 8.22181321e-01 -4.06944371e-02 -4.74000200e+01] [-7.63598664e-02 -3.38050639e-03 9.97074592e-01 -2.43819721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.72629675700003 meters 0.07074939371063624 Centerline is valid? [True, True] Translation: X:204.65, Y:-47.42, Z:-24.39 [[ 8.19648863e-01 5.69338279e-01 6.34796390e-02 2.04646424e+02] [-5.67944328e-01 8.22096708e-01 -3.99530115e-02 -4.74173231e+01] [-7.49331811e-02 -3.30546041e-03 9.97183079e-01 -2.43865797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.75629675700003 meters 0.07064900854570404 Centerline is valid? [True, True] Translation: X:204.67, Y:-47.44, Z:-24.39 [[ 8.19626996e-01 5.69427143e-01 6.29628132e-02 2.04672734e+02] [-5.68054664e-01 8.22035298e-01 -3.96467889e-02 -4.74351985e+01] [-7.43336126e-02 -3.27074123e-03 9.97228066e-01 -2.43901693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.78629675700003 meters 0.07075845721454448 Centerline is valid? [True, True] Translation: X:204.70, Y:-47.45, Z:-24.39 [[ 8.20051034e-01 5.68962491e-01 6.16277985e-02 2.04698840e+02] [-5.67644493e-01 8.22357484e-01 -3.88316570e-02 -4.74519945e+01] [-7.27738376e-02 -3.13873996e-03 9.97343530e-01 -2.43942385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.81629675700003 meters 0.07075768731021351 Centerline is valid? [True, True] Translation: X:204.72, Y:-47.47, Z:-24.40 [[ 8.20382842e-01 5.68480482e-01 6.16598194e-02 2.04724496e+02] [-5.67159223e-01 8.22690940e-01 -3.88591339e-02 -4.74685064e+01] [-7.28176340e-02 -3.09156857e-03 9.97340481e-01 -2.43989999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.84629675700003 meters 0.0705157282826161 Centerline is valid? [True, True] Translation: X:204.75, Y:-47.49, Z:-24.40 [[ 8.20606363e-01 5.68171241e-01 6.15356635e-02 2.04750669e+02] [-5.66853109e-01 8.22904722e-01 -3.87991208e-02 -4.74860136e+01] [-7.26825327e-02 -3.04287671e-03 9.97350485e-01 -2.44021841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.87629675700003 meters 0.0697214061643882 Centerline is valid? [True, True] Translation: X:204.78, Y:-47.51, Z:-24.40 [[ 8.21458061e-01 5.66785252e-01 6.29375249e-02 2.04775125e+02] [-5.65400525e-01 8.23860224e-01 -3.97061329e-02 -4.75062789e+01] [-7.43565739e-02 -2.96798660e-03 9.97227302e-01 -2.44025632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.90629675700004 meters 0.06901502033166323 Centerline is valid? [True, True] Translation: X:204.80, Y:-47.53, Z:-24.40 [[ 8.23261491e-01 5.64061320e-01 6.38384231e-02 2.04799362e+02] [-5.62627006e-01 8.25728340e-01 -4.02934456e-02 -4.75263887e+01] [-7.54411692e-02 -2.74517868e-03 9.97146476e-01 -2.44034107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.93629675700004 meters 0.06876209161489501 Centerline is valid? [True, True] Translation: X:204.83, Y:-47.54, Z:-24.41 [[ 8.23779977e-01 5.63305021e-01 6.38279163e-02 2.04825424e+02] [-5.61867597e-01 8.26244741e-01 -4.03042334e-02 -4.75445305e+01] [-7.54410572e-02 -2.66101748e-03 9.97146712e-01 -2.44064771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.96629675700004 meters 0.06869995418646938 Centerline is valid? [True, True] Translation: X:204.85, Y:-47.56, Z:-24.41 [[ 8.23934525e-01 5.63087562e-01 6.37518280e-02 2.04851940e+02] [-5.61651251e-01 8.26393087e-01 -4.02782486e-02 -4.75619977e+01] [-7.53642508e-02 -2.61965431e-03 9.97152630e-01 -2.44105355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.99629675700004 meters 0.06838277225653883 Centerline is valid? [True, True] Translation: X:204.88, Y:-47.58, Z:-24.41 [[ 8.24199787e-01 5.62703286e-01 6.37159634e-02 2.04878046e+02] [-5.61265816e-01 8.26654966e-01 -4.02771893e-02 -4.75803329e+01] [-7.53352243e-02 -2.56514137e-03 9.97154965e-01 -2.44136788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.02629675700004 meters 0.06931517160682582 Centerline is valid? [True, True] Translation: X:204.91, Y:-47.59, Z:-24.42 [[ 8.23867637e-01 5.63212980e-01 6.35079195e-02 2.04906165e+02] [-5.61784671e-01 8.26307728e-01 -4.01686757e-02 -4.75936603e+01] [-7.51006042e-02 -2.58410371e-03 9.97172614e-01 -2.44201934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.05629675700004 meters 0.06893772565555088 Centerline is valid? [True, True] Translation: X:204.93, Y:-47.61, Z:-24.42 [[ 8.22994796e-01 5.64518644e-01 6.32318527e-02 2.04932549e+02] [-5.63105103e-01 8.25415983e-01 -4.00137270e-02 -4.76113588e+01] [-7.47810767e-02 -2.67508985e-03 9.97196387e-01 -2.44224749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.08629675700004 meters 0.06933596546543909 Centerline is valid? [True, True] Translation: X:204.96, Y:-47.63, Z:-24.43 [[ 8.21985508e-01 5.66157622e-01 6.16876904e-02 2.04959626e+02] [-5.64815384e-01 8.24292457e-01 -3.90579936e-02 -4.76273280e+01] [-7.29616787e-02 -2.73705184e-03 9.97330989e-01 -2.44259384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.11629675700001 meters 0.06978644829685425 Centerline is valid? [True, True] Translation: X:204.99, Y:-47.64, Z:-24.43 [[ 8.20795628e-01 5.67975526e-01 6.08139692e-02 2.04986851e+02] [-5.66674694e-01 8.23040537e-01 -3.85235629e-02 -4.76431105e+01] [-7.19328028e-02 -2.84176543e-03 9.97405432e-01 -2.44312669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.14629675700002 meters 0.070205579621443 Centerline is valid? [True, True] Translation: X:205.01, Y:-47.66, Z:-24.44 [[ 8.20133627e-01 5.68906126e-01 6.10463291e-02 2.05013547e+02] [-5.67596164e-01 8.22397303e-01 -3.86945900e-02 -4.76580418e+01] [-7.22179257e-02 -2.91492779e-03 9.97384617e-01 -2.44366797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17629675700002 meters 0.07045828421070974 Centerline is valid? [True, True] Translation: X:205.04, Y:-47.67, Z:-24.44 [[ 8.19522203e-01 5.69801636e-01 6.09052869e-02 2.05040289e+02] [-5.68499749e-01 8.21776858e-01 -3.86112845e-02 -4.76746491e+01] [-7.20513284e-02 -2.98183536e-03 9.97396468e-01 -2.44406551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20629675700002 meters 0.07086914193203908 Centerline is valid? [True, True] Translation: X:205.07, Y:-47.69, Z:-24.44 [[ 8.17927533e-01 5.72131481e-01 6.04989196e-02 2.05067514e+02] [-5.70851731e-01 8.20155875e-01 -3.83750287e-02 -4.76899846e+01] [-7.15741064e-02 -3.14792040e-03 9.97430317e-01 -2.44447676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23629675700002 meters 0.07124686622939823 Centerline is valid? [True, True] Translation: X:205.09, Y:-47.70, Z:-24.45 [[ 8.17369155e-01 5.72799278e-01 6.17142728e-02 2.05094531e+02] [-5.71468022e-01 8.19689203e-01 -3.91651576e-02 -4.77049922e+01] [-7.30202971e-02 -3.25534160e-03 9.97325142e-01 -2.44492074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26629675700002 meters 0.07174956798723786 Centerline is valid? [True, True] Translation: X:205.12, Y:-47.72, Z:-24.45 [[ 8.16003648e-01 5.74811203e-01 6.10747721e-02 2.05122838e+02] [-5.73511154e-01 8.18279089e-01 -3.87851537e-02 -4.77202850e+01] [-7.22703498e-02 -3.37823618e-03 9.97379358e-01 -2.44524462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29629675700002 meters 0.07050049673127251 Centerline is valid? [True, True] Translation: X:205.15, Y:-47.74, Z:-24.45 [[ 8.15042060e-01 5.76188923e-01 6.09324751e-02 2.05148053e+02] [-5.74898575e-01 8.17309088e-01 -3.86973278e-02 -4.77402272e+01] [-7.20976372e-02 -3.49004334e-03 9.97391473e-01 -2.44516431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32629675700002 meters 0.07181159040012894 Centerline is valid? [True, True] Translation: X:205.18, Y:-47.75, Z:-24.46 [[ 8.13352477e-01 5.78554203e-01 6.10964937e-02 2.05177244e+02] [-5.77262902e-01 8.15635535e-01 -3.88100093e-02 -4.77507420e+01] [-7.22861653e-02 -3.70252206e-03 9.97377061e-01 -2.44568201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35629675700002 meters 0.07266421832857299 Centerline is valid? [True, True] Translation: X:205.21, Y:-47.76, Z:-24.46 [[ 8.12622213e-01 5.79540417e-01 6.14657963e-02 2.05205288e+02] [-5.78235406e-01 8.14934621e-01 -3.90560992e-02 -4.77633490e+01] [-7.27251934e-02 -3.80384587e-03 9.97344763e-01 -2.44609581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.38629675700003 meters 0.07155025937555518 Centerline is valid? [True, True] Translation: X:205.23, Y:-47.78, Z:-24.46 [[ 8.11803346e-01 5.80717790e-01 6.11733239e-02 2.05231262e+02] [-5.79426614e-01 8.14095742e-01 -3.88963032e-02 -4.77825380e+01] [-7.23887177e-02 -3.86930289e-03 9.97368990e-01 -2.44608219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.41629675700003 meters 0.07326730173580023 Centerline is valid? [True, True] Translation: X:205.26, Y:-47.79, Z:-24.47 [[ 8.10394577e-01 5.82783091e-01 6.02037989e-02 2.05260773e+02] [-5.81537946e-01 8.12617980e-01 -3.82836362e-02 -4.77929114e+01] [-7.12337453e-02 -3.98594234e-03 9.97451686e-01 -2.44653781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.44629675700003 meters 0.07385895347166879 Centerline is valid? [True, True] Translation: X:205.29, Y:-47.81, Z:-24.47 [[ 8.09464252e-01 5.84037826e-01 6.05594078e-02 2.05288721e+02] [-5.82780658e-01 8.11716026e-01 -3.85200890e-02 -4.78056399e+01] [-7.16542309e-02 -4.11221649e-03 9.97421055e-01 -2.44694100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.47629675700003 meters 0.07343581577882205 Centerline is valid? [True, True] Translation: X:205.32, Y:-47.82, Z:-24.47 [[ 8.09167458e-01 5.84421516e-01 6.08236508e-02 2.05316387e+02] [-5.83154039e-01 8.11439576e-01 -3.86934185e-02 -4.78227992e+01] [-7.19679837e-02 -4.16010256e-03 9.97398267e-01 -2.44722327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.50629675700003 meters 0.07337615895537786 Centerline is valid? [True, True] Translation: X:205.34, Y:-47.84, Z:-24.48 [[ 8.08732350e-01 5.85058277e-01 6.04880069e-02 2.05344029e+02] [-5.83805567e-01 8.10980469e-01 -3.84933736e-02 -4.78393007e+01] [-7.15754590e-02 -4.18239869e-03 9.97426419e-01 -2.44760476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.53629675700003 meters 0.07416459809024903 Centerline is valid? [True, True] Translation: X:205.37, Y:-47.85, Z:-24.48 [[ 8.08626347e-01 5.85274044e-01 5.98140806e-02 2.05372739e+02] [-5.84048231e-01 8.10824996e-01 -3.80852898e-02 -4.78515817e+01] [-7.07890833e-02 -4.13753924e-03 9.97482725e-01 -2.44821253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.56629675700003 meters 0.07413251613851728 Centerline is valid? [True, True] Translation: X:205.40, Y:-47.87, Z:-24.49 [[ 8.08868222e-01 5.85049572e-01 5.87298776e-02 2.05400606e+02] [-5.83866064e-01 8.10987525e-01 -3.74119486e-02 -4.78676447e+01] [-6.95170426e-02 -4.02904614e-03 9.97572628e-01 -2.44862349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.59629675700003 meters 0.07379744461795942 Centerline is valid? [True, True] Translation: X:205.43, Y:-47.88, Z:-24.49 [[ 8.09446858e-01 5.84268794e-01 5.85299902e-02 2.05427493e+02] [-5.83089972e-01 8.11550682e-01 -3.73038252e-02 -4.78842580e+01] [-6.92955144e-02 -3.93278620e-03 9.97588425e-01 -2.44902581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.62629675700003 meters 0.0737115105145979 Centerline is valid? [True, True] Translation: X:205.45, Y:-47.90, Z:-24.49 [[ 8.09562170e-01 5.84171810e-01 5.78998239e-02 2.05454070e+02] [-5.83016734e-01 8.11620813e-01 -3.69207738e-02 -4.79011279e+01] [-6.85607774e-02 -3.86690450e-03 9.97639447e-01 -2.44938634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.65629675700004 meters 0.07400908270123087 Centerline is valid? [True, True] Translation: X:205.48, Y:-47.92, Z:-24.50 [[ 8.09862865e-01 5.83825849e-01 5.71796972e-02 2.05480969e+02] [-5.82697311e-01 8.11870140e-01 -3.64790246e-02 -4.79176469e+01] [-6.77198863e-02 -3.77544840e-03 9.97697230e-01 -2.44985142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.68629675700004 meters 0.0713501097682154 Centerline is valid? [True, True] Translation: X:205.50, Y:-47.94, Z:-24.50 [[ 8.09901795e-01 5.83855226e-01 5.63219110e-02 2.05504927e+02] [-5.82759120e-01 8.11849336e-01 -3.59508499e-02 -4.79412228e+01] [-6.67149977e-02 -3.70544950e-03 9.97765192e-01 -2.44965529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.71629675700004 meters 0.07199991936217451 Centerline is valid? [True, True] Translation: X:205.53, Y:-47.96, Z:-24.50 [[ 8.09606446e-01 5.84272579e-01 5.62401667e-02 2.05532433e+02] [-5.83179295e-01 8.11548970e-01 -3.59190604e-02 -4.79555626e+01] [-6.66281715e-02 -3.71779794e-03 9.97770948e-01 -2.45014783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.74629675700004 meters 0.0747658118039568 Centerline is valid? [True, True] Translation: X:205.56, Y:-47.97, Z:-24.51 [[ 8.09267393e-01 5.84649609e-01 5.71937115e-02 2.05562165e+02] [-5.83518543e-01 8.11277028e-01 -3.65471534e-02 -4.79654658e+01] [-6.77672232e-02 -3.79717163e-03 9.97693934e-01 -2.45102682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.77629675700004 meters 0.07279255054811729 Centerline is valid? [True, True] Translation: X:205.59, Y:-47.99, Z:-24.51 [[ 8.08437833e-01 5.85906886e-01 5.60481204e-02 2.05586135e+02] [-5.84822538e-01 8.10369427e-01 -3.58328147e-02 -4.79869817e+01] [-6.64143761e-02 -3.80960097e-03 9.97784855e-01 -2.45088740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.80629675700004 meters 0.07294890605014667 Centerline is valid? [True, True] Translation: X:205.61, Y:-48.00, Z:-24.51 [[ 8.08057974e-01 5.86394185e-01 5.64284648e-02 2.05613475e+02] [-5.85295332e-01 8.10016619e-01 -3.60894896e-02 -4.80042882e+01] [-6.68706610e-02 -3.86491720e-03 9.97754167e-01 -2.45128768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.83629675700004 meters 0.07712268974355387 Centerline is valid? [True, True] Translation: X:205.64, Y:-48.01, Z:-24.52 [[ 8.07330308e-01 5.87431787e-01 5.60505934e-02 2.05643650e+02] [-5.86348497e-01 8.09264264e-01 -3.58718743e-02 -4.80129782e+01] [-6.64320214e-02 -3.90472986e-03 9.97783313e-01 -2.45248466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.86629675700001 meters 0.07431013624962449 Centerline is valid? [True, True] Translation: X:205.67, Y:-48.04, Z:-24.52 [[ 8.07126555e-01 5.87913693e-01 5.38907516e-02 2.05665842e+02] [-5.86912382e-01 8.08914835e-01 -3.45057229e-02 -4.80368007e+01] [-6.38794155e-02 -3.77866414e-03 9.97950471e-01 -2.45232674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.89629675700002 meters 0.07829650423656481 Centerline is valid? [True, True] Translation: X:205.70, Y:-48.05, Z:-24.53 [[ 8.06723664e-01 5.88392451e-01 5.46923583e-02 2.05696259e+02] [-5.87361161e-01 8.08566274e-01 -3.50349474e-02 -4.80453379e+01] [-6.48366949e-02 -3.86064590e-03 9.97888420e-01 -2.45344001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92629675700002 meters 0.07536524192417533 Centerline is valid? [True, True] Translation: X:205.72, Y:-48.07, Z:-24.53 [[ 8.06862265e-01 5.88279450e-01 5.38569810e-02 2.05719653e+02] [-5.87278220e-01 8.08648873e-01 -3.45151102e-02 -4.80686240e+01] [-6.38559170e-02 -3.78009198e-03 9.97951969e-01 -2.45331134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95629675700002 meters 0.0752907623946733 Centerline is valid? [True, True] Translation: X:205.75, Y:-48.09, Z:-24.54 [[ 8.06500539e-01 5.88566037e-01 5.60972467e-02 2.05745773e+02] [-5.87478454e-01 8.08439554e-01 -3.59799140e-02 -4.80862739e+01] [-6.65277885e-02 -3.93810375e-03 9.97776801e-01 -2.45355202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98629675700002 meters 0.07556800731450893 Centerline is valid? [True, True] Translation: X:205.77, Y:-48.10, Z:-24.54 [[ 8.06333982e-01 5.88698010e-01 5.70978318e-02 2.05772382e+02] [-5.87571930e-01 8.08343034e-01 -3.66164736e-02 -4.81038836e+01] [-6.77106797e-02 -4.02397621e-03 9.97696884e-01 -2.45390292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01629675700002 meters 0.07541630005895689 Centerline is valid? [True, True] Translation: X:205.80, Y:-48.12, Z:-24.54 [[ 8.06488874e-01 5.88342907e-01 5.85518586e-02 2.05798371e+02] [-5.87155710e-01 8.08601285e-01 -3.75783574e-02 -4.81210528e+01] [-6.94540682e-02 -4.07253100e-03 9.97576838e-01 -2.45423760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04629675700002 meters 0.07684710324075136 Centerline is valid? [True, True] Translation: X:205.82, Y:-48.14, Z:-24.55 [[ 8.06986884e-01 5.87388335e-01 6.12136636e-02 2.05824931e+02] [-5.86087637e-01 8.09294481e-01 -3.92902675e-02 -4.81360304e+01] [-7.26185250e-02 -4.16984090e-03 9.97351073e-01 -2.45462858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07629675700002 meters 0.07345657710271926 Centerline is valid? [True, True] Translation: X:205.85, Y:-48.16, Z:-24.54 [[ 8.07238358e-01 5.86993751e-01 6.16811904e-02 2.05847245e+02] [-5.85672320e-01 8.09580722e-01 -3.95852057e-02 -4.81622341e+01] [-7.31721710e-02 -4.17026937e-03 9.97310605e-01 -2.45433950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10629675700002 meters 0.0729932444571758 Centerline is valid? [True, True] Translation: X:205.87, Y:-48.18, Z:-24.55 [[ 8.07760671e-01 5.85996460e-01 6.42716645e-02 2.05872949e+02] [-5.84556125e-01 8.10302582e-01 -4.12778622e-02 -4.81801932e+01] [-7.62681769e-02 -4.22776145e-03 9.97078378e-01 -2.45458817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.13629675700003 meters 0.0729932444571758 Centerline is valid? [True, True] Translation: X:205.90, Y:-48.20, Z:-24.55 [[ 8.07596643e-01 5.86222418e-01 6.42723848e-02 2.05900056e+02] [-5.84782882e-01 8.10139007e-01 -4.12767435e-02 -4.81977136e+01] [-7.62669184e-02 -4.25043094e-03 9.97078378e-01 -2.45494955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.16629675700003 meters 0.07328228510345297 Centerline is valid? [True, True] Translation: X:205.93, Y:-48.21, Z:-24.55 [[ 8.07846913e-01 5.85807952e-01 6.49030616e-02 2.05926833e+02] [-5.84336524e-01 8.10438861e-01 -4.17094684e-02 -4.82140626e+01] [-7.70337016e-02 -4.23036412e-03 9.97019515e-01 -2.45531317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.19629675700003 meters 0.07327157007793506 Centerline is valid? [True, True] Translation: X:205.95, Y:-48.23, Z:-24.56 [[ 8.08163734e-01 5.85232482e-01 6.61386490e-02 2.05951766e+02] [-5.83700550e-01 8.10854490e-01 -4.25283848e-02 -4.82328831e+01] [-7.85178127e-02 -4.23526750e-03 9.96903714e-01 -2.45570702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.22629675700003 meters 0.07328512777003668 Centerline is valid? [True, True] Translation: X:205.98, Y:-48.25, Z:-24.56 [[ 8.08496151e-01 5.84733376e-01 6.64894926e-02 2.05977508e+02] [-5.83182016e-01 8.11214698e-01 -4.27720800e-02 -4.82515788e+01] [-7.89475164e-02 -4.19441424e-03 9.96869950e-01 -2.45609347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.25629675700003 meters 0.07297021053345083 Centerline is valid? [True, True] Translation: X:206.00, Y:-48.27, Z:-24.56 [[ 8.09681356e-01 5.83113061e-01 6.62967651e-02 2.06002289e+02] [-5.81562901e-01 8.12381166e-01 -4.26782529e-02 -4.82715788e+01] [-7.87444900e-02 -3.99995334e-03 9.96886807e-01 -2.45643754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.28629675700003 meters 0.07315949624763479 Centerline is valid? [True, True] Translation: X:206.03, Y:-48.29, Z:-24.57 [[ 8.10262112e-01 5.82284689e-01 6.64819554e-02 2.06027898e+02] [-5.80723200e-01 8.12975450e-01 -4.27958342e-02 -4.82893308e+01] [-7.89675566e-02 -3.93177093e-03 9.96869433e-01 -2.45685777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.31629675700003 meters 0.07355932929739785 Centerline is valid? [True, True] Translation: X:206.05, Y:-48.31, Z:-24.57 [[ 8.10764568e-01 5.81504806e-01 6.71786889e-02 2.06054056e+02] [-5.79905951e-01 8.13533722e-01 -4.32662805e-02 -4.83057107e+01] [-7.98116789e-02 -3.87855430e-03 9.96802414e-01 -2.45729297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.34629675700003 meters 0.0725891562517737 Centerline is valid? [True, True] Translation: X:206.08, Y:-48.33, Z:-24.57 [[ 8.11249257e-01 5.80782674e-01 6.75731348e-02 2.06078277e+02] [-5.79160807e-01 8.14049719e-01 -4.35409556e-02 -4.83278925e+01] [-8.02957240e-02 -3.81314337e-03 9.96763792e-01 -2.45749926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.37629675700003 meters 0.07235490457776264 Centerline is valid? [True, True] Translation: X:206.10, Y:-48.35, Z:-24.58 [[ 8.11205655e-01 5.80725539e-01 6.85801266e-02 2.06103868e+02] [-5.79052727e-01 8.14090330e-01 -4.42139563e-02 -4.83465511e+01] [-8.15065915e-02 -3.84489795e-03 9.96665386e-01 -2.45783615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.40629675700004 meters 0.07365628440909613 Centerline is valid? [True, True] Translation: X:206.13, Y:-48.36, Z:-24.58 [[ 8.10672899e-01 5.81414391e-01 6.90416976e-02 2.06130646e+02] [-5.79719388e-01 8.13598142e-01 -4.45364442e-02 -4.83610904e+01] [-8.20663265e-02 -3.92032230e-03 9.96619160e-01 -2.45847311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.43629675700004 meters 0.07344829678483869 Centerline is valid? [True, True] Translation: X:206.16, Y:-48.38, Z:-24.59 [[ 8.09836863e-01 5.82762660e-01 6.74680481e-02 2.06155861e+02] [-5.81146728e-01 8.12632842e-01 -4.35470364e-02 -4.83800708e+01] [-8.02043384e-02 -3.94284003e-03 9.96770645e-01 -2.45878843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.46629675700004 meters 0.07397100385629304 Centerline is valid? [True, True] Translation: X:206.18, Y:-48.40, Z:-24.59 [[ 8.08857970e-01 5.84115714e-01 6.75101252e-02 2.06183074e+02] [-5.82502126e-01 8.11660161e-01 -4.35781659e-02 -4.83965344e+01] [-8.02499706e-02 -4.07624459e-03 9.96766435e-01 -2.45929377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.49629675700004 meters 0.07370268993942412 Centerline is valid? [True, True] Translation: X:206.21, Y:-48.41, Z:-24.60 [[ 8.07727459e-01 5.85758412e-01 6.68089383e-02 2.06209364e+02] [-5.84181473e-01 8.10474974e-01 -4.31546510e-02 -4.84148390e+01] [-7.94251723e-02 -4.17134735e-03 9.96832103e-01 -2.45960299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.52629675700004 meters 0.07414245675191648 Centerline is valid? [True, True] Translation: X:206.24, Y:-48.43, Z:-24.60 [[ 8.05445713e-01 5.88867879e-01 6.70210731e-02 2.06236268e+02] [-5.87291163e-01 8.08216853e-01 -4.32967469e-02 -4.84317183e+01] [-7.96636242e-02 -4.48770483e-03 9.96811701e-01 -2.45998354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.55629675700004 meters 0.07619988303173526 Centerline is valid? [True, True] Translation: X:206.27, Y:-48.44, Z:-24.61 [[ 8.04001061e-01 5.90819710e-01 6.71890217e-02 2.06265920e+02] [-5.89241442e-01 8.06789989e-01 -4.34100992e-02 -4.84423694e+01] [-7.98549722e-02 -4.68879024e-03 9.96795465e-01 -2.46067901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.58629675700004 meters 0.07766120832211316 Centerline is valid? [True, True] Translation: X:206.29, Y:-48.45, Z:-24.61 [[ 8.01212205e-01 5.94380495e-01 6.90711988e-02 2.06294916e+02] [-5.92723110e-01 8.04167388e-01 -4.46556586e-02 -4.84543087e+01] [-8.20872579e-02 -5.16143708e-03 9.96611781e-01 -2.46111422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.61629675700001 meters 0.07882631450348908 Centerline is valid? [True, True] Translation: X:206.32, Y:-48.47, Z:-24.61 [[ 7.99755409e-01 5.96190977e-01 7.03392167e-02 2.06322889e+02] [-5.94478733e-01 8.02824197e-01 -4.54790507e-02 -4.84684116e+01] [-8.35842248e-02 -5.44305162e-03 9.96485851e-01 -2.46146525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.64629675700002 meters 0.0815349461747691 Centerline is valid? [True, True] Translation: X:206.35, Y:-48.48, Z:-24.62 [[ 7.96276411e-01 6.00562929e-01 7.25813000e-02 2.06351663e+02] [-5.98756537e-01 7.99554370e-01 -4.69405755e-02 -4.84791610e+01] [-8.62234651e-02 -6.08085489e-03 9.96257265e-01 -2.46179698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67629675700002 meters 0.08138088465910305 Centerline is valid? [True, True] Translation: X:206.38, Y:-48.50, Z:-24.62 [[ 7.95258347e-01 6.01808152e-01 7.34241812e-02 2.06378013e+02] [-5.99963816e-01 7.98615997e-01 -4.74964088e-02 -4.84967495e+01] [-8.72214517e-02 -6.27993639e-03 9.96169153e-01 -2.46206976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70629675700002 meters 0.0821983583910402 Centerline is valid? [True, True] Translation: X:206.41, Y:-48.51, Z:-24.62 [[ 7.94507235e-01 6.02888020e-01 7.26931107e-02 2.06405615e+02] [-6.01082663e-01 7.97800826e-01 -4.70475816e-02 -4.85121140e+01] [-8.63590470e-02 -6.31492461e-03 9.96244065e-01 -2.46246528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73629675700002 meters 0.08325059511820755 Centerline is valid? [True, True] Translation: X:206.43, Y:-48.53, Z:-24.63 [[ 7.93746938e-01 6.03996005e-01 7.17957151e-02 2.06432280e+02] [-6.02237319e-01 7.96962166e-01 -4.64921308e-02 -4.85265605e+01] [-8.52995298e-02 -6.33507256e-03 9.96335213e-01 -2.46275438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76629675700002 meters 0.08097954362419253 Centerline is valid? [True, True] Translation: X:206.46, Y:-48.55, Z:-24.63 [[ 7.94003048e-01 6.03566461e-01 7.25719478e-02 2.06456675e+02] [-6.01766927e-01 7.97287403e-01 -4.70038579e-02 -4.85486527e+01] [-8.62306519e-02 -6.35019160e-03 9.96254962e-01 -2.46293159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79629675700002 meters 0.08082226965956006 Centerline is valid? [True, True] Translation: X:206.48, Y:-48.57, Z:-24.63 [[ 7.94757073e-01 6.02544548e-01 7.28097725e-02 2.06481412e+02] [-6.00727536e-01 7.98060802e-01 -4.71739773e-02 -4.85659769e+01] [-8.65310482e-02 -6.24698306e-03 9.96229568e-01 -2.46330512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82629675700002 meters 0.07861453246526987 Centerline is valid? [True, True] Translation: X:206.50, Y:-48.59, Z:-24.64 [[ 7.95679848e-01 6.01300205e-01 7.30181008e-02 2.06504654e+02] [-5.99467198e-01 7.98999711e-01 -4.73132182e-02 -4.85880990e+01] [-8.67908893e-02 -6.12578208e-03 9.96207717e-01 -2.46350851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85629675700002 meters 0.07825115318694877 Centerline is valid? [True, True] Translation: X:206.53, Y:-48.61, Z:-24.64 [[ 7.98343159e-01 5.97806749e-01 7.26311972e-02 2.06528468e+02] [-5.95978616e-01 8.01619891e-01 -4.70642045e-02 -4.86074261e+01] [-8.63579115e-02 -5.71325472e-03 9.96247795e-01 -2.46389359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.88629675700003 meters 0.07673661664746058 Centerline is valid? [True, True] Translation: X:206.55, Y:-48.63, Z:-24.64 [[ 7.99566901e-01 5.96160217e-01 7.27032790e-02 2.06551310e+02] [-5.94320158e-01 8.02846468e-01 -4.71285217e-02 -4.86291848e+01] [-8.64657205e-02 -5.52661830e-03 9.96239497e-01 -2.46412457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.91629675700003 meters 0.07639757128206125 Centerline is valid? [True, True] Translation: X:206.57, Y:-48.65, Z:-24.65 [[ 8.02336798e-01 5.92248975e-01 7.41405083e-02 2.06574790e+02] [-5.90316686e-01 8.05738320e-01 -4.80829477e-02 -4.86492817e+01] [-8.82149251e-02 -5.18766085e-03 9.96087956e-01 -2.46452933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.94629675700003 meters 0.0768768299225904 Centerline is valid? [True, True] Translation: X:206.60, Y:-48.67, Z:-24.65 [[ 8.03849825e-01 5.90221785e-01 7.39168683e-02 2.06600162e+02] [-5.88290306e-01 8.07226086e-01 -4.79641739e-02 -4.86652773e+01] [-8.79771247e-02 -4.92858428e-03 9.96110302e-01 -2.46508771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.97629675700003 meters 0.07544275784196008 Centerline is valid? [True, True] Translation: X:206.62, Y:-48.69, Z:-24.65 [[ 8.06550835e-01 5.86628880e-01 7.30910933e-02 2.06621921e+02] [-5.84725037e-01 8.09843501e-01 -4.74355866e-02 -4.86901882e+01] [-8.70194319e-02 -4.47898029e-03 9.96196545e-01 -2.46540748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.00629675700003 meters 0.07561924524730736 Centerline is valid? [True, True] Translation: X:206.65, Y:-48.71, Z:-24.66 [[ 8.07485537e-01 5.85419035e-01 7.24683497e-02 2.06646841e+02] [-5.83540757e-01 8.10719510e-01 -4.70538100e-02 -4.87094608e+01] [-8.62977010e-02 -4.29296465e-03 9.96260145e-01 -2.46580339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.03629675700003 meters 0.0747065028237554 Centerline is valid? [True, True] Translation: X:206.67, Y:-48.74, Z:-24.66 [[ 8.09842469e-01 5.82180344e-01 7.22580315e-02 2.06668359e+02] [-5.80297932e-01 8.13050256e-01 -4.69424290e-02 -4.87350112e+01] [-8.60783704e-02 -3.91521371e-03 9.96280676e-01 -2.46594960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.06629675700003 meters 0.07462570250150011 Centerline is valid? [True, True] Translation: X:206.69, Y:-48.76, Z:-24.66 [[ 8.10665052e-01 5.81095276e-01 7.17666644e-02 2.06693001e+02] [-5.79232378e-01 8.13826866e-01 -4.66442342e-02 -4.87552465e+01] [-8.55103837e-02 -3.75672515e-03 9.96330197e-01 -2.46631757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.09629675700003 meters 0.07425572036074546 Centerline is valid? [True, True] Translation: X:206.72, Y:-48.78, Z:-24.67 [[ 8.11729933e-01 5.79666134e-01 7.12859660e-02 2.06716120e+02] [-5.77820608e-01 8.14846295e-01 -4.63558015e-02 -4.87781871e+01] [-8.49579936e-02 -3.56210853e-03 9.96378167e-01 -2.46660804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.12629675700003 meters 0.07398692838987381 Centerline is valid? [True, True] Translation: X:206.74, Y:-48.80, Z:-24.67 [[ 8.11865930e-01 5.79404004e-01 7.18659293e-02 2.06741090e+02] [-5.77525136e-01 8.15032787e-01 -4.67575946e-02 -4.87991241e+01] [-8.56646262e-02 -3.54348262e-03 9.96317728e-01 -2.46686980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.15629675700004 meters 0.07395995993086572 Centerline is valid? [True, True] Translation: X:206.77, Y:-48.82, Z:-24.67 [[ 8.11504231e-01 5.79937325e-01 7.16490250e-02 2.06765536e+02] [-5.78069740e-01 8.14653279e-01 -4.66413007e-02 -4.88198000e+01] [-8.54181443e-02 -3.56852038e-03 9.96338801e-01 -2.46719926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.18629675700004 meters 0.07496002430116251 Centerline is valid? [True, True] Translation: X:206.79, Y:-48.83, Z:-24.68 [[ 8.10642214e-01 5.81169455e-01 7.14231427e-02 2.06792664e+02] [-5.79316232e-01 8.13774309e-01 -4.65196342e-02 -4.88348988e+01] [-8.51581091e-02 -3.66580663e-03 9.96360707e-01 -2.46777422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.21629675700004 meters 0.0748941899251026 Centerline is valid? [True, True] Translation: X:206.82, Y:-48.86, Z:-24.68 [[ 8.09816793e-01 5.82330740e-01 7.13279030e-02 2.06817303e+02] [-5.80485030e-01 8.12943256e-01 -4.64800256e-02 -4.88550387e+01] [-8.50522854e-02 -3.76447460e-03 9.96369378e-01 -2.46805658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.24629675700004 meters 0.07585752954541199 Centerline is valid? [True, True] Translation: X:206.84, Y:-48.87, Z:-24.69 [[ 8.08373695e-01 5.84416605e-01 7.06342772e-02 2.06842504e+02] [-5.82612198e-01 8.11444300e-01 -4.60562205e-02 -4.88720008e+01] [-8.42318016e-02 -3.92175440e-03 9.96438469e-01 -2.46871539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.27629675700004 meters 0.07609020936300559 Centerline is valid? [True, True] Translation: X:206.87, Y:-48.89, Z:-24.69 [[ 8.06928136e-01 5.86438994e-01 7.04009132e-02 2.06868585e+02] [-5.84653398e-01 8.09982963e-01 -4.59130070e-02 -4.88899635e+01] [-8.39487179e-02 -4.11163596e-03 9.96461593e-01 -2.46907727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.30629675700004 meters 0.07779527895443238 Centerline is valid? [True, True] Translation: X:206.90, Y:-48.90, Z:-24.70 [[ 8.03561796e-01 5.91067909e-01 7.01937866e-02 2.06895069e+02] [-5.89308976e-01 8.06608866e-01 -4.57937558e-02 -4.89045393e+01] [-8.36861501e-02 -4.56771579e-03 9.96481693e-01 -2.46951191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.33629675700004 meters 0.07666262147875157 Centerline is valid? [True, True] Translation: X:206.92, Y:-48.93, Z:-24.70 [[ 8.01598089e-01 5.93743402e-01 7.00662222e-02 2.06919250e+02] [-5.92000430e-01 8.04639932e-01 -4.57172878e-02 -4.89258105e+01] [-8.35224183e-02 -4.83234315e-03 9.96494182e-01 -2.46953836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.36629675700001 meters 0.0796473628019508 Centerline is valid? [True, True] Translation: X:206.95, Y:-48.94, Z:-24.70 [[ 7.99386016e-01 5.96699268e-01 7.02280680e-02 2.06949219e+02] [-5.94957580e-01 8.02448518e-01 -4.58459821e-02 -4.89361569e+01] [-8.37106731e-02 -5.13408437e-03 9.96476876e-01 -2.47013764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.39629675700002 meters 0.08225565252669809 Centerline is valid? [True, True] Translation: X:206.98, Y:-48.95, Z:-24.70 [[ 7.94919208e-01 6.02620734e-01 7.03683405e-02 2.06977133e+02] [-6.00892700e-01 7.98007040e-01 -4.59644068e-02 -4.89489294e+01] [-8.38535357e-02 -5.74583230e-03 9.96461525e-01 -2.47047127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42629675700002 meters 0.08111667350761172 Centerline is valid? [True, True] Translation: X:207.00, Y:-48.97, Z:-24.71 [[ 7.92331138e-01 6.06083889e-01 6.98118019e-02 2.07001360e+02] [-6.04395871e-01 7.95377659e-01 -4.56071363e-02 -4.89698809e+01] [-8.31684981e-02 -6.05801061e-03 9.96517085e-01 -2.47059333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45629675700002 meters 0.08497230599722067 Centerline is valid? [True, True] Translation: X:207.03, Y:-48.98, Z:-24.71 [[ 7.87641954e-01 6.12346875e-01 6.82015981e-02 2.07029929e+02] [-6.10756890e-01 7.90562159e-01 -4.45813233e-02 -4.89807966e+01] [-8.12168366e-02 -6.54047533e-03 9.96674996e-01 -2.47118531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48629675700002 meters 0.08690816542489636 Centerline is valid? [True, True] Translation: X:207.06, Y:-49.00, Z:-24.72 [[ 7.85622750e-01 6.15109785e-01 6.66096688e-02 2.07058107e+02] [-6.13602127e-01 7.88413373e-01 -4.35520835e-02 -4.89956426e+01] [-7.93052663e-02 -6.65632679e-03 9.96828154e-01 -2.47164906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51629675700002 meters 0.08758551419112375 Centerline is valid? [True, True] Translation: X:207.08, Y:-49.02, Z:-24.72 [[ 7.83223506e-01 6.18434410e-01 6.40298369e-02 2.07083301e+02] [-6.17051760e-01 7.85807739e-01 -4.18727007e-02 -4.90150011e+01] [-7.62106603e-02 -6.71404008e-03 9.97069133e-01 -2.47207055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54629675700002 meters 0.08804118991153376 Centerline is valid? [True, True] Translation: X:207.11, Y:-49.03, Z:-24.72 [[ 7.82676564e-01 6.19240228e-01 6.29200705e-02 2.07109289e+02] [-6.17907313e-01 7.85173262e-01 -4.11521678e-02 -4.90337645e+01] [-7.48862347e-02 -6.66993437e-03 9.97169777e-01 -2.47243249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57629675700002 meters 0.09099468357999393 Centerline is valid? [True, True] Translation: X:207.14, Y:-49.05, Z:-24.73 [[ 7.82637115e-01 6.19357018e-01 6.22577677e-02 2.07136344e+02] [-6.18052565e-01 7.85081629e-01 -4.07168545e-02 -4.90474507e+01] [-7.40956993e-02 -6.61205144e-03 9.97229215e-01 -2.47310191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60629675700002 meters 0.08894343913641571 Centerline is valid? [True, True] Translation: X:207.16, Y:-49.07, Z:-24.73 [[ 7.83762212e-01 6.17956358e-01 6.20220547e-02 2.07157701e+02] [-6.16655234e-01 7.86186095e-01 -4.05924296e-02 -4.90725620e+01] [-7.38452270e-02 -6.43141223e-03 9.97248976e-01 -2.47328606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.63629675700003 meters 0.08885073814356169 Centerline is valid? [True, True] Translation: X:207.18, Y:-49.09, Z:-24.73 [[ 7.84966615e-01 6.16275648e-01 6.34959731e-02 2.07181049e+02] [-6.14906518e-01 7.87504323e-01 -4.15561700e-02 -4.90929517e+01] [-7.56134090e-02 -6.42388160e-03 9.97116516e-01 -2.47345609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.66629675700003 meters 0.08969866256487645 Centerline is valid? [True, True] Translation: X:207.21, Y:-49.11, Z:-24.74 [[ 7.85531591e-01 6.15462407e-01 6.43905733e-02 2.07206343e+02] [-6.14050023e-01 7.88140108e-01 -4.21632545e-02 -4.91096381e+01] [-7.66986915e-02 -6.41846464e-03 9.97033657e-01 -2.47379218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.69629675700003 meters 0.08749665369179904 Centerline is valid? [True, True] Translation: X:207.23, Y:-49.13, Z:-24.74 [[ 7.86204294e-01 6.14475567e-01 6.55940973e-02 2.07229113e+02] [-6.13005990e-01 7.88909594e-01 -4.29570595e-02 -4.91320483e+01] [-7.81438762e-02 -6.43654986e-03 9.96921314e-01 -2.47398256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.72629675700003 meters 0.08874736594608598 Centerline is valid? [True, True] Translation: X:207.25, Y:-49.15, Z:-24.74 [[ 7.87484810e-01 6.12612000e-01 6.76329181e-02 2.07254253e+02] [-6.11040996e-01 7.90357635e-01 -4.43137593e-02 -4.91494135e+01] [-8.06013340e-02 -6.43007330e-03 9.96725679e-01 -2.47429401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.75629675700003 meters 0.0876780343284023 Centerline is valid? [True, True] Translation: X:207.28, Y:-49.17, Z:-24.75 [[ 7.88175435e-01 6.11815304e-01 6.67945853e-02 2.07279131e+02] [-6.10278945e-01 7.90975908e-01 -4.37803854e-02 -4.91704523e+01] [-7.96184176e-02 -6.25670471e-03 9.96805779e-01 -2.47452947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.78629675700003 meters 0.08710615996814397 Centerline is valid? [True, True] Translation: X:207.30, Y:-49.19, Z:-24.75 [[ 7.89690053e-01 6.09895687e-01 6.64595413e-02 2.07302360e+02] [-6.08365848e-01 7.92458906e-01 -4.35875747e-02 -4.91897291e+01] [-7.92503292e-02 -6.01104107e-03 9.96836623e-01 -2.47490917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.81629675700003 meters 0.0829522855224597 Centerline is valid? [True, True] Translation: X:207.32, Y:-49.22, Z:-24.75 [[ 7.90516356e-01 6.08839198e-01 6.63228674e-02 2.07323486e+02] [-6.07311145e-01 7.93271834e-01 -4.35082791e-02 -4.92164247e+01] [-7.91016084e-02 -5.88461032e-03 9.96849190e-01 -2.47495943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.84629675700003 meters 0.08285134380411016 Centerline is valid? [True, True] Translation: X:207.35, Y:-49.24, Z:-24.75 [[ 7.91343763e-01 6.08018690e-01 6.39399827e-02 2.07349137e+02] [-6.06595713e-01 7.93903028e-01 -4.19478642e-02 -4.92369152e+01] [-7.62672313e-02 -5.59053868e-03 9.97071740e-01 -2.47546183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.87629675700003 meters 0.08731374423661288 Centerline is valid? [True, True] Translation: X:207.38, Y:-49.25, Z:-24.76 [[ 7.91603302e-01 6.07729048e-01 6.34792658e-02 2.07379136e+02] [-6.06323530e-01 7.94125398e-01 -4.16728794e-02 -4.92462738e+01] [-7.57363165e-02 -5.50058356e-03 9.97112709e-01 -2.47629144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.90629675700004 meters 0.08362923718705556 Centerline is valid? [True, True] Translation: X:207.40, Y:-49.27, Z:-24.76 [[ 7.92042120e-01 6.07314393e-01 6.19556975e-02 2.07401370e+02] [-6.05973078e-01 7.94443814e-01 -4.06897414e-02 -4.92725564e+01] [-7.39317863e-02 -5.31549571e-03 9.97249135e-01 -2.47639625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.93629675700004 meters 0.08234656405166497 Centerline is valid? [True, True] Translation: X:207.43, Y:-49.29, Z:-24.77 [[ 7.91791783e-01 6.07672139e-01 6.16469217e-02 2.07425285e+02] [-6.06343342e-01 7.94170300e-01 -4.05128011e-02 -4.92936106e+01] [-7.35766548e-02 -5.30149745e-03 9.97275473e-01 -2.47662742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.96629675700004 meters 0.08328028048269512 Centerline is valid? [True, True] Translation: X:207.45, Y:-49.31, Z:-24.77 [[ 7.92226961e-01 6.07334681e-01 5.93382426e-02 2.07451192e+02] [-6.06101064e-01 7.94430015e-01 -3.90186175e-02 -4.93100677e+01] [-7.08374406e-02 -5.05337117e-03 9.97475073e-01 -2.47716989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.99629675700004 meters 0.08356969072290835 Centerline is valid? [True, True] Translation: X:207.48, Y:-49.33, Z:-24.78 [[ 7.92966510e-01 6.06355631e-01 5.94723706e-02 2.07476096e+02] [-6.05113088e-01 7.95178058e-01 -3.91152986e-02 -4.93267865e+01] [-7.10089057e-02 -4.97038800e-03 9.97463298e-01 -2.47762459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.02629675700004 meters 0.08365058900256865 Centerline is valid? [True, True] Translation: X:207.50, Y:-49.35, Z:-24.78 [[ 7.94475161e-01 6.04500735e-01 5.82072187e-02 2.07499379e+02] [-6.03304664e-01 7.96590771e-01 -3.82965648e-02 -4.93461967e+01] [-6.95176347e-02 -4.69101701e-03 9.97569693e-01 -2.47806978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.05629675700004 meters 0.08365058900256865 Centerline is valid? [True, True] Translation: X:207.53, Y:-49.36, Z:-24.78 [[ 7.94315219e-01 6.04711220e-01 5.82037196e-02 2.07526284e+02] [-6.03515323e-01 7.96430927e-01 -3.83018827e-02 -4.93640518e+01] [-6.95168206e-02 -4.70306826e-03 9.97569693e-01 -2.47843183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.08629675700004 meters 0.08333687689960019 Centerline is valid? [True, True] Translation: X:207.55, Y:-49.38, Z:-24.79 [[ 7.95252043e-01 6.03368700e-01 5.93329603e-02 2.07551444e+02] [-6.02120290e-01 7.97448779e-01 -3.90717546e-02 -4.93833691e+01] [-7.08896705e-02 -4.65368662e-03 9.97473307e-01 -2.47877003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.11629675700001 meters 0.0829851764664317 Centerline is valid? [True, True] Translation: X:207.58, Y:-49.40, Z:-24.79 [[ 7.96307122e-01 6.01878436e-01 6.03101700e-02 2.07575706e+02] [-6.00583031e-01 7.98574576e-01 -3.97324624e-02 -4.94032971e+01] [-7.20762808e-02 -4.58202195e-03 9.97388598e-01 -2.47908997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.14629675700002 meters 0.08314778741547388 Centerline is valid? [True, True] Translation: X:207.60, Y:-49.42, Z:-24.79 [[ 7.96208507e-01 6.02019923e-01 6.01998784e-02 2.07601947e+02] [-6.00728707e-01 7.98467955e-01 -3.96729897e-02 -4.94222341e+01] [-7.19516039e-02 -4.57582318e-03 9.97397628e-01 -2.47945850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17629675700002 meters 0.0835429901263972 Centerline is valid? [True, True] Translation: X:207.63, Y:-49.44, Z:-24.80 [[ 7.96134784e-01 6.02100283e-01 6.03709837e-02 2.07627066e+02] [-6.00800113e-01 7.98407358e-01 -3.98109805e-02 -4.94402446e+01] [-7.21708402e-02 -4.57598749e-03 9.97381788e-01 -2.47984198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20629675700002 meters 0.08214224285479288 Centerline is valid? [True, True] Translation: X:207.65, Y:-49.46, Z:-24.80 [[ 7.95870864e-01 6.02479176e-01 6.00700492e-02 2.07651012e+02] [-6.01191790e-01 7.98121498e-01 -3.96296225e-02 -4.94618898e+01] [-7.18192200e-02 -4.57355852e-03 9.97407180e-01 -2.48002480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23629675700002 meters 0.08100900644709026 Centerline is valid? [True, True] Translation: X:207.68, Y:-49.48, Z:-24.80 [[ 7.95596533e-01 6.02791938e-01 6.05643198e-02 2.07675030e+02] [-6.01482681e-01 7.97885018e-01 -3.99760238e-02 -4.94846190e+01] [-7.24205883e-02 -4.62360351e-03 9.97363465e-01 -2.48016151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26629675700002 meters 0.08509815967687204 Centerline is valid? [True, True] Translation: X:207.70, Y:-49.50, Z:-24.81 [[ 7.95290995e-01 6.03222737e-01 6.02873273e-02 2.07704000e+02] [-6.01925134e-01 7.97559367e-01 -3.98144305e-02 -4.94952305e+01] [-7.20996923e-02 -4.62439952e-03 9.97386710e-01 -2.48106944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29629675700002 meters 0.08119199495844975 Centerline is valid? [True, True] Translation: X:207.73, Y:-49.52, Z:-24.81 [[ 7.94897861e-01 6.03713529e-01 6.05587810e-02 2.07725953e+02] [-6.02404401e-01 7.97187621e-01 -4.00104273e-02 -4.95224321e+01] [-7.24315468e-02 -4.67667316e-03 9.97362421e-01 -2.48091573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32629675700002 meters 0.08157315922922068 Centerline is valid? [True, True] Translation: X:207.75, Y:-49.54, Z:-24.81 [[ 7.94534750e-01 6.04139768e-01 6.10710320e-02 2.07751574e+02] [-6.02807775e-01 7.96864302e-01 -4.03741300e-02 -4.95411880e+01] [-7.30569429e-02 -4.73544358e-03 9.97316529e-01 -2.48135030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35629675700002 meters 0.08111149447950644 Centerline is valid? [True, True] Translation: X:207.78, Y:-49.56, Z:-24.82 [[ 7.94424454e-01 6.04192239e-01 6.19800361e-02 2.07777083e+02] [-6.02818120e-01 7.96824214e-01 -4.10059413e-02 -4.95615587e+01] [-7.41626650e-02 -4.78656629e-03 9.97234670e-01 -2.48164105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.38629675700003 meters 0.08051086174046243 Centerline is valid? [True, True] Translation: X:207.80, Y:-49.58, Z:-24.82 [[ 7.94273018e-01 6.04327472e-01 6.25993571e-02 2.07801641e+02] [-6.02926059e-01 7.96721293e-01 -4.14167790e-02 -4.95830662e+01] [-7.49035380e-02 -4.84655361e-03 9.97179006e-01 -2.48172982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.41629675700003 meters 0.08467573660003846 Centerline is valid? [True, True] Translation: X:207.83, Y:-49.59, Z:-24.83 [[ 7.93726230e-01 6.04966125e-01 6.33613391e-02 2.07832181e+02] [-6.03530707e-01 7.96235826e-01 -4.19427520e-02 -4.95938045e+01] [-7.58245123e-02 -4.94945130e-03 9.97108894e-01 -2.48256695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.44629675700003 meters 0.0812445679176116 Centerline is valid? [True, True] Translation: X:207.86, Y:-49.62, Z:-24.82 [[ 7.93515538e-01 6.05254699e-01 6.32442894e-02 2.07855176e+02] [-6.03823775e-01 7.96016488e-01 -4.18879390e-02 -4.96195329e+01] [-7.56963691e-02 -4.94967511e-03 9.97118629e-01 -2.48246508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.47629675700003 meters 0.08324588374938133 Centerline is valid? [True, True] Translation: X:207.88, Y:-49.63, Z:-24.83 [[ 7.92328490e-01 6.06787339e-01 6.34404343e-02 2.07882109e+02] [-6.05350164e-01 7.94847929e-01 -4.20469765e-02 -4.96339226e+01] [-7.59390708e-02 -5.08865992e-03 9.97099475e-01 -2.48297989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.50629675700003 meters 0.08346228076069012 Centerline is valid? [True, True] Translation: X:207.91, Y:-49.65, Z:-24.83 [[ 7.91631458e-01 6.07719219e-01 6.32217176e-02 2.07908494e+02] [-6.06293707e-01 7.94135286e-01 -4.19176273e-02 -4.96508608e+01] [-7.56807445e-02 -5.14761715e-03 9.97118813e-01 -2.48330390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.53629675700003 meters 0.08355113675542306 Centerline is valid? [True, True] Translation: X:207.94, Y:-49.67, Z:-24.83 [[ 7.89892743e-01 6.09658485e-01 6.62267789e-02 2.07935106e+02] [-6.08099035e-01 7.92644625e-01 -4.39324682e-02 -4.96680610e+01] [-7.92781023e-02 -5.57050249e-03 9.96836974e-01 -2.48335298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.56629675700003 meters 0.08270929314613105 Centerline is valid? [True, True] Translation: X:207.96, Y:-49.69, Z:-24.84 [[ 7.89688371e-01 6.09963086e-01 6.58582637e-02 2.07961078e+02] [-6.08420396e-01 7.92410369e-01 -4.37084523e-02 -4.96871536e+01] [-7.88473135e-02 -5.55345448e-03 9.96871236e-01 -2.48355742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.59629675700003 meters 0.0845559470391339 Centerline is valid? [True, True] Translation: X:207.99, Y:-49.70, Z:-24.84 [[ 7.88852865e-01 6.10956092e-01 6.66619233e-02 2.07988993e+02] [-6.09376992e-01 7.91643946e-01 -4.42667299e-02 -4.97012671e+01] [-7.98175363e-02 -5.70230562e-03 9.96793180e-01 -2.48401608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.62629675700003 meters 0.08345617442680302 Centerline is valid? [True, True] Translation: X:208.01, Y:-49.72, Z:-24.84 [[ 7.89176441e-01 6.10579553e-01 6.62808787e-02 2.08014595e+02] [-6.09015019e-01 7.91935057e-01 -4.40405691e-02 -4.97212727e+01] [-7.93804224e-02 -5.61027105e-03 9.96828608e-01 -2.48436942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.65629675700004 meters 0.08566744638627678 Centerline is valid? [True, True] Translation: X:208.04, Y:-49.73, Z:-24.85 [[ 7.89100930e-01 6.10739917e-01 6.56998978e-02 2.08042052e+02] [-6.09203048e-01 7.91811644e-01 -4.36573891e-02 -4.97346330e+01] [-7.86852543e-02 -5.57449166e-03 9.96883923e-01 -2.48491100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.68629675700004 meters 0.08488156680403228 Centerline is valid? [True, True] Translation: X:208.07, Y:-49.75, Z:-24.85 [[ 7.90498108e-01 6.09029200e-01 6.47778873e-02 2.08066149e+02] [-6.07527656e-01 7.93130034e-01 -4.30685234e-02 -4.97526971e+01] [-7.76072763e-02 -5.30877173e-03 9.96969873e-01 -2.48543363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.71629675700004 meters 0.08236303805442438 Centerline is valid? [True, True] Translation: X:208.09, Y:-49.78, Z:-24.86 [[ 7.91385181e-01 6.07992458e-01 6.36762633e-02 2.08089934e+02] [-6.06537508e-01 7.93926357e-01 -4.23460985e-02 -4.97754263e+01] [-7.63003722e-02 -5.10996719e-03 9.97071783e-01 -2.48564954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.74629675700004 meters 0.08111912169764433 Centerline is valid? [True, True] Translation: X:208.11, Y:-49.80, Z:-24.86 [[ 7.91767115e-01 6.07491919e-01 6.37056008e-02 2.08114547e+02] [-6.06032287e-01 7.94309830e-01 -4.23882225e-02 -4.97956684e+01] [-7.63524876e-02 -5.04605030e-03 9.97068120e-01 -2.48587346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.77629675700004 meters 0.0804163614131103 Centerline is valid? [True, True] Translation: X:208.14, Y:-49.82, Z:-24.86 [[ 7.92511352e-01 6.06530840e-01 6.36089416e-02 2.08140815e+02] [-6.05070601e-01 7.95044704e-01 -4.23495884e-02 -4.98152822e+01] [-7.62582835e-02 -4.92537098e-03 9.97075932e-01 -2.48620266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.80629675700004 meters 0.0801230711331535 Centerline is valid? [True, True] Translation: X:208.17, Y:-49.83, Z:-24.87 [[ 7.92768644e-01 6.06228826e-01 6.32810194e-02 2.08166843e+02] [-6.04781684e-01 7.95275415e-01 -4.21441457e-02 -4.98343130e+01] [-7.58748349e-02 -4.86064427e-03 9.97105503e-01 -2.48650125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.83629675700004 meters 0.08059439146884281 Centerline is valid? [True, True] Translation: X:208.19, Y:-49.85, Z:-24.87 [[ 7.93590798e-01 6.05125574e-01 6.35349032e-02 2.08192414e+02] [-6.03661413e-01 7.96115840e-01 -4.23375543e-02 -4.98502604e+01] [-7.62006797e-02 -4.75487589e-03 9.97081164e-01 -2.48695333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.86629675700001 meters 0.0823412835693122 Centerline is valid? [True, True] Translation: X:208.22, Y:-49.86, Z:-24.87 [[ 7.93479847e-01 6.05341703e-01 6.28582171e-02 2.08220439e+02] [-6.03907957e-01 7.95951778e-01 -4.19040182e-02 -4.98641681e+01] [-7.53983594e-02 -4.71058353e-03 9.97142366e-01 -2.48749094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.89629675700002 meters 0.08309515122633841 Centerline is valid? [True, True] Translation: X:208.25, Y:-49.88, Z:-24.88 [[ 7.92998762e-01 6.05933813e-01 6.32232407e-02 2.08247688e+02] [-6.04483685e-01 7.95500709e-01 -4.21674831e-02 -4.98805511e+01] [-7.58448367e-02 -4.77865562e-03 9.97108181e-01 -2.48788761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92629675700002 meters 0.0796396020879658 Centerline is valid? [True, True] Translation: X:208.27, Y:-49.90, Z:-24.88 [[ 7.92846109e-01 6.06107588e-01 6.34715638e-02 2.08270093e+02] [-6.04645018e-01 7.95368200e-01 -4.23536192e-02 -4.99044394e+01] [-7.61541134e-02 -4.79786265e-03 9.97084516e-01 -2.48779379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95629675700002 meters 0.08204671665971913 Centerline is valid? [True, True] Translation: X:208.30, Y:-49.92, Z:-24.88 [[ 7.91585579e-01 6.07714231e-01 6.38410860e-02 2.08298790e+02] [-6.06237933e-01 7.94140281e-01 -4.26237232e-02 -4.99168490e+01] [-7.66018212e-02 -4.96256345e-03 9.97049414e-01 -2.48834072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98629675700002 meters 0.08049867902022001 Centerline is valid? [True, True] Translation: X:208.32, Y:-49.94, Z:-24.88 [[ 7.91114140e-01 6.08231703e-01 6.47503938e-02 2.08324255e+02] [-6.06713044e-01 7.93743358e-01 -4.32523319e-02 -4.99372959e+01] [-7.77026344e-02 -5.06737724e-03 9.96963702e-01 -2.48838323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01629675700002 meters 0.08555844334545774 Centerline is valid? [True, True] Translation: X:208.36, Y:-49.94, Z:-24.89 [[ 7.89336350e-01 6.10343177e-01 6.65532370e-02 2.08356969e+02] [-6.08743733e-01 7.92118712e-01 -4.44861083e-02 -4.99430844e+01] [-7.98698570e-02 -5.39936355e-03 9.96790677e-01 -2.48903877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04629675700002 meters 0.08432915767551942 Centerline is valid? [True, True] Translation: X:209.02, Y:-49.16, Z:-23.94 [[ 8.95034629e-01 -4.29947446e-01 -1.18567311e-01 2.09023686e+02] [-4.23485852e-01 -9.02669926e-01 7.64639702e-02 -4.91612778e+01] [-1.39902634e-01 -1.82263227e-02 -9.89997502e-01 -2.39360578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07629675700002 meters 0.08725009626366508 Centerline is valid? [True, True] Translation: X:209.03, Y:-49.15, Z:-23.94 [[ 9.26806294e-01 -3.55088870e-01 -1.22237421e-01 2.09025041e+02] [-3.49382836e-01 -9.34649381e-01 6.60467227e-02 -4.91470967e+01] [-1.37701585e-01 -1.85048617e-02 -9.90300885e-01 -2.39398723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10629675700002 meters 0.08369195571492094 Centerline is valid? [True, True] Translation: X:209.03, Y:-49.12, Z:-23.95 [[ 9.51653291e-01 -2.79944883e-01 -1.26439222e-01 2.09029378e+02] [-2.74913729e-01 -9.59837404e-01 5.59874942e-02 -4.91227245e+01] [-1.37034507e-01 -1.85208052e-02 -9.90393116e-01 -2.39469028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.13629675700003 meters 0.08836671794478033 Centerline is valid? [True, True] Translation: X:209.03, Y:-49.11, Z:-23.95 [[ 9.70571640e-01 -2.02364899e-01 -1.30534053e-01 2.09025267e+02] [-1.97979726e-01 -9.79131955e-01 4.58763967e-02 -4.91122726e+01] [-1.37093835e-01 -1.86832336e-02 -9.90381854e-01 -2.39462993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.16629675700003 meters 0.08562277822151754 Centerline is valid? [True, True] Translation: X:209.02, Y:-49.09, Z:-23.95 [[ 9.83016750e-01 -1.24743263e-01 -1.34600101e-01 2.09024000e+02] [-1.21008688e-01 -9.92012461e-01 3.56114402e-02 -4.90882215e+01] [-1.37967264e-01 -1.87188606e-02 -9.90259884e-01 -2.39505784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.19629675700003 meters 0.08540554882260822 Centerline is valid? [True, True] Translation: X:209.02, Y:-49.07, Z:-23.95 [[ 9.89462442e-01 -4.68661829e-02 -1.36995028e-01 2.09018974e+02] [-4.38591054e-02 -9.98727659e-01 2.48886086e-02 -4.90672478e+01] [-1.37987157e-01 -1.86178641e-02 -9.90259016e-01 -2.39536730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.22629675700003 meters 0.08568829971757826 Centerline is valid? [True, True] Translation: X:209.01, Y:-49.05, Z:-23.96 [[ 9.90028270e-01 3.13310204e-02 -1.37340424e-01 2.09009474e+02] [ 3.35623733e-02 -9.99339113e-01 1.39608150e-02 -4.90483560e+01] [-1.36812251e-01 -1.84310721e-02 -9.90425516e-01 -2.39562564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.25629675700003 meters 0.08605025086880014 Centerline is valid? [True, True] Translation: X:209.00, Y:-49.03, Z:-23.96 [[ 9.84350697e-01 1.09812709e-01 -1.37821895e-01 2.08998250e+02] [ 1.11296644e-01 -9.93782445e-01 3.08359230e-03 -4.90286000e+01] [-1.36626362e-01 -1.83744506e-02 -9.90452228e-01 -2.39602084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.28629675700003 meters 0.08599726902982414 Centerline is valid? [True, True] Translation: X:208.99, Y:-49.01, Z:-23.96 [[ 9.72878106e-01 1.87018408e-01 -1.36133411e-01 2.08985555e+02] [ 1.87741553e-01 -9.82188881e-01 -7.62307039e-03 -4.90090145e+01] [-1.35134377e-01 -1.81415796e-02 -9.90661185e-01 -2.39639792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.31629675700003 meters 0.08631367185676739 Centerline is valid? [True, True] Translation: X:208.97, Y:-48.99, Z:-23.97 [[ 9.55142478e-01 2.63459681e-01 -1.35247341e-01 2.08972098e+02] [ 2.63439271e-01 -9.64500977e-01 -1.83743523e-02 -4.89910752e+01] [-1.35287094e-01 -1.80793365e-02 -9.90641479e-01 -2.39667916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.34629675700003 meters 0.08218224422722215 Centerline is valid? [True, True] Translation: X:208.96, Y:-48.97, Z:-23.97 [[ 9.32651238e-01 3.35863479e-01 -1.31747454e-01 2.08955737e+02] [ 3.35108860e-01 -9.41747340e-01 -2.85306841e-02 -4.89702437e+01] [-1.33655230e-01 -1.75405614e-02 -9.90872650e-01 -2.39730623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.37629675700003 meters 0.08218857742416644 Centerline is valid? [True, True] Translation: X:208.94, Y:-48.96, Z:-23.98 [[ 9.04107095e-01 4.07839532e-01 -1.27504032e-01 2.08939860e+02] [ 4.06406387e-01 -9.12891068e-01 -3.82589310e-02 -4.89594419e+01] [-1.32000796e-01 -1.72282819e-02 -9.91099882e-01 -2.39755842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.40629675700004 meters 0.08142382159281093 Centerline is valid? [True, True] Translation: X:208.92, Y:-48.95, Z:-23.98 [[ 8.70837203e-01 4.75976365e-01 -1.22837557e-01 2.08921945e+02] [ 4.73882765e-01 -8.79298878e-01 -4.76299134e-02 -4.89480584e+01] [-1.30681639e-01 -1.67327007e-02 -9.91283171e-01 -2.39785969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.43629675700004 meters 0.08102470569169094 Centerline is valid? [True, True] Translation: X:208.90, Y:-48.94, Z:-23.98 [[ 8.31720554e-01 5.42357189e-01 -1.18699621e-01 2.08904350e+02] [ 5.39586106e-01 -8.39986212e-01 -5.71838962e-02 -4.89371890e+01] [-1.30720142e-01 -1.64876441e-02 -9.91282201e-01 -2.39809464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.46629675700004 meters 0.08060303085087693 Centerline is valid? [True, True] Translation: X:209.32, Y:-49.83, Z:-24.94 [[ 8.96163385e-01 -4.38146066e-01 7.01370979e-02 2.09322121e+02] [ 4.36389501e-01 8.98891097e-01 3.94841782e-02 -4.98310120e+01] [-8.03454501e-02 -4.77718171e-03 9.96755631e-01 -2.49351223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.49629675700004 meters 0.08052187576778033 Centerline is valid? [True, True] Translation: X:209.35, Y:-49.82, Z:-24.94 [[ 8.95505476e-01 -4.39559999e-01 6.96918138e-02 2.09347351e+02] [ 4.37829520e-01 8.98201320e-01 3.92390251e-02 -4.98170168e+01] [-7.98451850e-02 -4.62562852e-03 9.96796544e-01 -2.49379974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.52629675700004 meters 0.08057822201920073 Centerline is valid? [True, True] Translation: X:209.37, Y:-49.80, Z:-24.94 [[ 8.95295678e-01 -4.40251711e-01 6.80005889e-02 2.09372905e+02] [ 4.38604774e-01 8.97863267e-01 3.83067359e-02 -4.98034353e+01] [-7.79198369e-02 -4.47047217e-03 9.96949604e-01 -2.49431893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.55629675700004 meters 0.08126765256100674 Centerline is valid? [True, True] Translation: X:209.40, Y:-49.79, Z:-24.95 [[ 8.95029399e-01 -4.40668832e-01 6.87993931e-02 2.09396688e+02] [ 4.38982425e-01 8.97658441e-01 3.87782612e-02 -4.97878621e+01] [-7.88467270e-02 -4.50595937e-03 9.96876567e-01 -2.49471443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.58629675700004 meters 0.07959317949546538 Centerline is valid? [True, True] Translation: X:209.42, Y:-49.78, Z:-24.95 [[ 8.95327110e-01 -4.40111421e-01 6.84930851e-02 2.09424011e+02] [ 4.38436988e-01 8.97931639e-01 3.86235649e-02 -4.97771249e+01] [-7.85007802e-02 -4.55082281e-03 9.96903665e-01 -2.49472034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.61629675700001 meters 0.08065867213212835 Centerline is valid? [True, True] Translation: X:209.45, Y:-49.76, Z:-24.95 [[ 8.95961361e-01 -4.38885849e-01 6.80621042e-02 2.09447989e+02] [ 4.37226840e-01 8.98530779e-01 3.84074082e-02 -4.97617187e+01] [-7.80123634e-02 -4.65297498e-03 9.96941533e-01 -2.49501259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.64629675700002 meters 0.08244633700733703 Centerline is valid? [True, True] Translation: X:209.47, Y:-49.74, Z:-24.95 [[ 8.96901699e-01 -4.37083449e-01 6.72711027e-02 2.09470575e+02] [ 4.35457492e-01 8.99408376e-01 3.79650520e-02 -4.97441336e+01] [-7.70980892e-02 -4.75721395e-03 9.97012163e-01 -2.49530158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67629675700002 meters 0.08128757743598895 Centerline is valid? [True, True] Translation: X:209.50, Y:-49.73, Z:-24.95 [[ 8.96907558e-01 -4.36877540e-01 6.85189623e-02 2.09497213e+02] [ 4.35189935e-01 8.99507838e-01 3.86700110e-02 -4.97315038e+01] [-7.85274029e-02 -4.86466237e-03 9.96900086e-01 -2.49542265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70629675700002 meters 0.07963394932367057 Centerline is valid? [True, True] Translation: X:209.52, Y:-49.72, Z:-24.95 [[ 8.97213207e-01 -4.36262393e-01 6.84367344e-02 2.09523771e+02] [ 4.34575056e-01 8.99805959e-01 3.86491373e-02 -4.97205491e+01] [-7.84409465e-02 -4.93561870e-03 9.96906544e-01 -2.49542538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73629675700002 meters 0.08093235658009436 Centerline is valid? [True, True] Translation: X:209.55, Y:-49.70, Z:-24.96 [[ 8.98373945e-01 -4.33806013e-01 6.88229433e-02 2.09546992e+02] [ 4.32091991e-01 9.00991382e-01 3.88721098e-02 -4.97034394e+01] [-7.88718338e-02 -5.18384803e-03 9.96871286e-01 -2.49571170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76629675700002 meters 0.08195969753149164 Centerline is valid? [True, True] Translation: X:209.57, Y:-49.69, Z:-24.96 [[ 8.98848664e-01 -4.32751716e-01 6.92606062e-02 2.09570680e+02] [ 4.31011494e-01 9.01497428e-01 3.91341222e-02 -4.96866934e+01] [-7.93736168e-02 -5.32353605e-03 9.96830722e-01 -2.49603080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79629675700002 meters 0.08354624706767272 Centerline is valid? [True, True] Translation: X:209.59, Y:-49.67, Z:-24.96 [[ 9.00440585e-01 -4.29397461e-01 6.94591536e-02 2.09593433e+02] [ 4.27635521e-01 9.03097908e-01 3.92686929e-02 -4.96682604e+01] [-7.95902933e-02 -5.65592344e-03 9.96811615e-01 -2.49635980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82629675700002 meters 0.08403214986497227 Centerline is valid? [True, True] Translation: X:209.62, Y:-49.65, Z:-24.97 [[ 9.01242448e-01 -4.27724303e-01 6.93827834e-02 2.09618079e+02] [ 4.25959348e-01 9.03890508e-01 3.92502615e-02 -4.96523876e+01] [-7.95027301e-02 -5.81975656e-03 9.96817660e-01 -2.49661193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85629675700002 meters 0.08671128324886382 Centerline is valid? [True, True] Translation: X:209.64, Y:-49.63, Z:-24.97 [[ 9.02370876e-01 -4.24947790e-01 7.17368688e-02 2.09639298e+02] [ 4.23051701e-01 9.05196107e-01 4.05865285e-02 -4.96330791e+01] [-8.21830899e-02 -6.27569689e-03 9.96597489e-01 -2.49688136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.88629675700003 meters 0.08853008198089145 Centerline is valid? [True, True] Translation: X:209.66, Y:-49.62, Z:-24.97 [[ 9.02979109e-01 -4.23729477e-01 7.12885621e-02 2.09662659e+02] [ 4.21852814e-01 9.05766518e-01 4.03387987e-02 -4.96160920e+01] [-8.16635307e-02 -6.35181197e-03 9.96639715e-01 -2.49729459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.91629675700003 meters 0.0894773108937563 Centerline is valid? [True, True] Translation: X:209.69, Y:-49.60, Z:-24.98 [[ 9.03481651e-01 -4.22778219e-01 7.05654640e-02 2.09687215e+02] [ 4.20936047e-01 9.06210732e-01 3.99368822e-02 -4.96008657e+01] [-8.08316247e-02 -6.37869281e-03 9.96707360e-01 -2.49769189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.94629675700003 meters 0.0894773108937563 Centerline is valid? [True, True] Translation: X:209.71, Y:-49.59, Z:-24.98 [[ 9.03371355e-01 -4.23013979e-01 7.05646363e-02 2.09711113e+02] [ 4.21172406e-01 9.06100840e-01 3.99383461e-02 -4.95871674e+01] [-8.08331550e-02 -6.35928023e-03 9.96707360e-01 -2.49798652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.97629675700003 meters 0.09031996461051724 Centerline is valid? [True, True] Translation: X:209.74, Y:-49.57, Z:-24.98 [[ 9.04530892e-01 -4.20822502e-01 6.87916181e-02 2.09737350e+02] [ 4.19063920e-01 9.07120311e-01 3.89637242e-02 -4.95736307e+01] [-7.87990860e-02 -6.41580703e-03 9.96869872e-01 -2.49841641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.00629675700003 meters 0.09163708442761134 Centerline is valid? [True, True] Translation: X:209.76, Y:-49.56, Z:-24.99 [[ 9.04810607e-01 -4.20265711e-01 6.85164098e-02 2.09761297e+02] [ 4.18519089e-01 9.07378202e-01 3.88145567e-02 -4.95592695e+01] [-7.84827240e-02 -6.44439716e-03 9.96894644e-01 -2.49880718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.03629675700003 meters 0.08842482105064024 Centerline is valid? [True, True] Translation: X:209.79, Y:-49.55, Z:-24.99 [[ 9.04591723e-01 -4.20552310e-01 6.96388454e-02 2.09791155e+02] [ 4.18748490e-01 9.07244807e-01 3.94532913e-02 -4.95531323e+01] [-7.97716537e-02 -6.52795949e-03 9.96791788e-01 -2.49895661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.06629675700003 meters 0.09364993791811545 Centerline is valid? [True, True] Translation: X:209.81, Y:-49.53, Z:-24.99 [[ 9.04516130e-01 -4.20666373e-01 6.99312000e-02 2.09810753e+02] [ 4.18845547e-01 9.07191624e-01 3.96454941e-02 -4.95325734e+01] [-8.01185251e-02 -6.56961726e-03 9.96763694e-01 -2.49940414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.09629675700003 meters 0.09376859151018925 Centerline is valid? [True, True] Translation: X:209.84, Y:-49.52, Z:-25.00 [[ 9.03779929e-01 -4.22150419e-01 7.05043506e-02 2.09836818e+02] [ 4.20303371e-01 9.06502505e-01 3.99785472e-02 -4.95220047e+01] [-8.07893309e-02 -6.49859237e-03 9.96710014e-01 -2.49968748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.12629675700003 meters 0.0936682192077469 Centerline is valid? [True, True] Translation: X:209.86, Y:-49.51, Z:-25.00 [[ 9.02868359e-01 -4.24043372e-01 7.08233390e-02 2.09862309e+02] [ 4.22184675e-01 9.05619514e-01 4.01670998e-02 -4.95104933e+01] [-8.11715903e-02 -6.36507512e-03 9.96679818e-01 -2.50004540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.15629675700004 meters 0.09237888723077853 Centerline is valid? [True, True] Translation: X:209.89, Y:-49.50, Z:-25.00 [[ 9.01658427e-01 -4.26659656e-01 7.05238916e-02 2.09891505e+02] [ 4.24824170e-01 9.04391634e-01 4.00024724e-02 -4.95028800e+01] [-8.08486586e-02 -6.10831257e-03 9.96707672e-01 -2.50040498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.18629675700004 meters 0.09200335073578059 Centerline is valid? [True, True] Translation: X:209.92, Y:-49.49, Z:-25.01 [[ 9.01122989e-01 -4.27822231e-01 7.03242269e-02 2.09918136e+02] [ 4.25999985e-01 9.03843020e-01 3.98974558e-02 -4.94914034e+01] [-8.06310802e-02 -5.99439494e-03 9.96725988e-01 -2.50072868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.21629675700004 meters 0.09240716983983603 Centerline is valid? [True, True] Translation: X:209.94, Y:-49.48, Z:-25.01 [[ 9.00434126e-01 -4.29210966e-01 7.06847284e-02 2.09944284e+02] [ 4.27373711e-01 9.03184958e-01 4.01078760e-02 -4.94809738e+01] [-8.10561237e-02 -5.90570561e-03 9.96692042e-01 -2.50113025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.24629675700004 meters 0.08495427943219165 Centerline is valid? [True, True] Translation: X:209.98, Y:-49.48, Z:-25.01 [[ 9.00235234e-01 -4.29691723e-01 7.02961376e-02 2.09977236e+02] [ 4.27876170e-01 9.02956833e-01 3.98865922e-02 -4.94814934e+01] [-8.06133163e-02 -5.82927352e-03 9.96728405e-01 -2.50101799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.27629675700004 meters 0.08647803608260579 Centerline is valid? [True, True] Translation: X:210.00, Y:-49.47, Z:-25.01 [[ 9.00182811e-01 -4.29581357e-01 7.16293553e-02 2.10000491e+02] [ 4.27693209e-01 9.03008366e-01 4.06744379e-02 -4.94673718e+01] [-8.21548873e-02 -5.97904095e-03 9.96601638e-01 -2.50136610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.30629675700004 meters 0.09037448547990816 Centerline is valid? [True, True] Translation: X:210.02, Y:-49.45, Z:-25.02 [[ 9.00299140e-01 -4.29282461e-01 7.19585101e-02 2.10023439e+02] [ 4.27375273e-01 9.03150082e-01 4.08693823e-02 -4.94511730e+01] [-8.25338433e-02 -6.04138189e-03 9.96569951e-01 -2.50185062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.33629675700004 meters 0.08652578953938467 Centerline is valid? [True, True] Translation: X:210.05, Y:-49.45, Z:-25.02 [[ 9.00176549e-01 -4.29629299e-01 7.14202128e-02 2.10053020e+02] [ 4.27751474e-01 9.02985640e-01 4.05661316e-02 -4.94460717e+01] [-8.19198252e-02 -5.96657907e-03 9.96621062e-01 -2.50191034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.36629675700001 meters 0.08727490976943877 Centerline is valid? [True, True] Translation: X:210.08, Y:-49.44, Z:-25.02 [[ 9.00025570e-01 -4.30099657e-01 7.04858758e-02 2.10078214e+02] [ 4.28269819e-01 9.02762319e-01 4.00644280e-02 -4.94360330e+01] [-8.08636894e-02 -5.87203637e-03 9.96707872e-01 -2.50228132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.39629675700002 meters 0.08789175127786462 Centerline is valid? [True, True] Translation: X:210.10, Y:-49.42, Z:-25.03 [[ 8.99727765e-01 -4.30661195e-01 7.08582033e-02 2.10103011e+02] [ 4.28812776e-01 9.02494636e-01 4.02869003e-02 -4.94236940e+01] [-8.12991530e-02 -5.86233991e-03 9.96672504e-01 -2.50268057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42629675700002 meters 0.08797102598238977 Centerline is valid? [True, True] Translation: X:210.13, Y:-49.41, Z:-25.03 [[ 8.99381515e-01 -4.31621338e-01 6.93967614e-02 2.10131413e+02] [ 4.29850479e-01 9.02037095e-01 3.94670083e-02 -4.94148301e+01] [-7.96332560e-02 -5.66566660e-03 9.96808128e-01 -2.50310755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45629675700002 meters 0.08783196373219315 Centerline is valid? [True, True] Translation: X:210.16, Y:-49.40, Z:-25.04 [[ 8.99490198e-01 -4.31565357e-01 6.83280798e-02 2.10158418e+02] [ 4.29848052e-01 9.02064360e-01 3.88656911e-02 -4.94037785e+01] [-7.84094114e-02 -5.58861612e-03 9.96905578e-01 -2.50350153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48629675700002 meters 0.08686954374655224 Centerline is valid? [True, True] Translation: X:210.19, Y:-49.40, Z:-25.04 [[ 8.99229867e-01 -4.32308990e-01 6.70416614e-02 2.10186977e+02] [ 4.30656440e-01 9.01709146e-01 3.81529413e-02 -4.93967597e+01] [-7.69459388e-02 -5.43634106e-03 9.97020445e-01 -2.50379770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51629675700002 meters 0.08783133165798417 Centerline is valid? [True, True] Translation: X:210.21, Y:-49.38, Z:-25.04 [[ 8.99153160e-01 -4.32507152e-01 6.67919027e-02 2.10212671e+02] [ 4.30865556e-01 9.01614203e-01 3.80355238e-02 -4.93832293e+01] [-7.66711642e-02 -5.42143118e-03 9.97041695e-01 -2.50423247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54629675700002 meters 0.08917894510049783 Centerline is valid? [True, True] Translation: X:210.24, Y:-49.37, Z:-25.05 [[ 8.99664438e-01 -4.31326152e-01 6.75399848e-02 2.10239395e+02] [ 4.29642529e-01 9.02178667e-01 3.84831063e-02 -4.93707516e+01] [-7.75319036e-02 -5.60383229e-03 9.96974123e-01 -2.50459033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57629675700002 meters 0.09032980167820101 Centerline is valid? [True, True] Translation: X:210.26, Y:-49.36, Z:-25.05 [[ 8.99886633e-01 -4.30712742e-01 6.84878219e-02 2.10263427e+02] [ 4.28977729e-01 9.02470702e-01 3.90479184e-02 -4.93573389e+01] [-7.86266888e-02 -5.75894950e-03 9.96887495e-01 -2.50487489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60629675700002 meters 0.09132586165189646 Centerline is valid? [True, True] Translation: X:210.29, Y:-49.35, Z:-25.05 [[ 9.00082316e-01 -4.30241507e-01 6.88772066e-02 2.10290331e+02] [ 4.28485065e-01 9.02694958e-01 3.92729277e-02 -4.93456951e+01] [-7.90719507e-02 -5.83601335e-03 9.96851828e-01 -2.50515961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.63629675700003 meters 0.0927318344972644 Centerline is valid? [True, True] Translation: X:210.31, Y:-49.33, Z:-25.06 [[ 9.00180753e-01 -4.29975139e-01 6.92531054e-02 2.10314188e+02] [ 4.28196677e-01 9.02821358e-01 3.95120428e-02 -4.93323503e+01] [-7.95123788e-02 -5.91403086e-03 9.96816335e-01 -2.50551511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.66629675700003 meters 0.09406487620089446 Centerline is valid? [True, True] Translation: X:210.34, Y:-49.32, Z:-25.06 [[ 9.00641374e-01 -4.29148342e-01 6.83872505e-02 2.10338211e+02] [ 4.27410828e-01 9.03214604e-01 3.90302971e-02 -4.93192018e+01] [-7.85181507e-02 -5.92284908e-03 9.96895090e-01 -2.50590425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.69629675700003 meters 0.09642761510644227 Centerline is valid? [True, True] Translation: X:210.36, Y:-49.31, Z:-25.06 [[ 9.01198254e-01 -4.27865319e-01 6.90867305e-02 2.10362845e+02] [ 4.26087670e-01 9.03821893e-01 3.94370768e-02 -4.93068408e+01] [-7.93158570e-02 -6.10362078e-03 9.96830849e-01 -2.50632203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.72629675700003 meters 0.09704335243850949 Centerline is valid? [True, True] Translation: X:210.39, Y:-49.29, Z:-25.07 [[ 9.01691773e-01 -4.26747608e-01 6.95587894e-02 2.10388873e+02] [ 4.24941923e-01 9.04349180e-01 3.97104949e-02 -4.92938673e+01] [-7.98517928e-02 -6.24818085e-03 9.96787165e-01 -2.50659325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.75629675700003 meters 0.09846411461913787 Centerline is valid? [True, True] Translation: X:210.42, Y:-49.28, Z:-25.07 [[ 9.01811971e-01 -4.26600074e-01 6.89024409e-02 2.10415206e+02] [ 4.24826446e-01 9.04418986e-01 3.93546589e-02 -4.92821721e+01] [-7.91053761e-02 -6.21892339e-03 9.96846861e-01 -2.50719602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.78629675700003 meters 0.0982767186664786 Centerline is valid? [True, True] Translation: X:210.44, Y:-49.27, Z:-25.08 [[ 9.01545747e-01 -4.27232082e-01 6.84690734e-02 2.10441890e+02] [ 4.25480933e-01 9.04121127e-01 3.91275260e-02 -4.92706534e+01] [-7.86208702e-02 -6.14296940e-03 9.96885662e-01 -2.50753224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.81629675700003 meters 0.09812053756322012 Centerline is valid? [True, True] Translation: X:210.47, Y:-49.26, Z:-25.08 [[ 9.00462319e-01 -4.29398757e-01 6.91687774e-02 2.10469444e+02] [ 4.27615819e-01 9.03094813e-01 3.95533799e-02 -4.92623519e+01] [-7.94501363e-02 -6.03866477e-03 9.96820551e-01 -2.50781415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.84629675700003 meters 0.09596294134442436 Centerline is valid? [True, True] Translation: X:210.50, Y:-49.25, Z:-25.08 [[ 8.99483357e-01 -4.31381788e-01 6.95661017e-02 2.10497988e+02] [ 4.29583959e-01 9.02150181e-01 3.97828374e-02 -4.92537669e+01] [-7.99206627e-02 -5.89951880e-03 9.96783770e-01 -2.50798747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.87629675700003 meters 0.0875696043223245 Centerline is valid? [True, True] Translation: X:210.53, Y:-49.26, Z:-25.08 [[ 8.96951973e-01 -4.36552542e-01 6.99931147e-02 2.10534898e+02] [ 4.34746231e-01 8.99661989e-01 4.00502100e-02 -4.92580488e+01] [-8.04541658e-02 -5.49387207e-03 9.96743169e-01 -2.50784490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.90629675700004 meters 0.08597684051546531 Centerline is valid? [True, True] Translation: X:210.56, Y:-49.25, Z:-25.08 [[ 8.95271201e-01 -4.39913972e-01 7.04639839e-02 2.10562651e+02] [ 4.38093060e-01 8.98024675e-01 4.03255907e-02 -4.92486866e+01] [-8.10181871e-02 -5.23255764e-03 9.96698888e-01 -2.50811657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.93629675700004 meters 0.08521280533323045 Centerline is valid? [True, True] Translation: X:210.59, Y:-49.24, Z:-25.08 [[ 8.94248899e-01 -4.42116250e-01 6.96572237e-02 2.10589078e+02] [ 4.40341541e-01 8.96943839e-01 3.98883020e-02 -4.92381754e+01] [-8.01138842e-02 -4.99710087e-03 9.96773191e-01 -2.50846165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.96629675700004 meters 0.08385167528022719 Centerline is valid? [True, True] Translation: X:210.62, Y:-49.23, Z:-25.09 [[ 8.92440342e-01 -4.45687931e-01 7.00892592e-02 2.10616768e+02] [ 4.43901340e-01 8.95175989e-01 4.01440995e-02 -4.92293013e+01] [-8.06339625e-02 -4.71349781e-03 9.96732636e-01 -2.50895719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.99629675700004 meters 0.08347925309256948 Centerline is valid? [True, True] Translation: X:210.64, Y:-49.22, Z:-25.09 [[ 8.91605608e-01 -4.47464255e-01 6.93914942e-02 2.10642160e+02] [ 4.45716754e-01 8.94290362e-01 3.97658694e-02 -4.92167989e+01] [-7.98499496e-02 -4.52652062e-03 9.96796617e-01 -2.50931139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.02629675700004 meters 0.08347550276642716 Centerline is valid? [True, True] Translation: X:210.67, Y:-49.20, Z:-25.10 [[ 8.90686298e-01 -4.49029562e-01 7.10659630e-02 2.10667164e+02] [ 4.47199798e-01 8.93505513e-01 4.07460307e-02 -4.92038754e+01] [-8.17940021e-02 -4.51124696e-03 9.96639047e-01 -2.50961718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.05629675700004 meters 0.08014791292230876 Centerline is valid? [True, True] Translation: X:210.70, Y:-49.20, Z:-25.10 [[ 8.89938260e-01 -4.50460639e-01 7.13800067e-02 2.10696477e+02] [ 4.48617584e-01 8.92785362e-01 4.09458250e-02 -4.91962755e+01] [-8.21715077e-02 -4.41693010e-03 9.96608416e-01 -2.50966167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.08629675700004 meters 0.08224972175821921 Centerline is valid? [True, True] Translation: X:210.72, Y:-49.18, Z:-25.10 [[ 8.89400590e-01 -4.51363525e-01 7.23709738e-02 2.10718623e+02] [ 4.49469721e-01 8.92329235e-01 4.15392173e-02 -4.91796269e+01] [-8.33280233e-02 -4.41644299e-03 9.96512386e-01 -2.51006758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.11629675700001 meters 0.08284465583315873 Centerline is valid? [True, True] Translation: X:210.74, Y:-49.17, Z:-25.10 [[ 8.89208919e-01 -4.51731586e-01 7.24297730e-02 2.10742337e+02] [ 4.49835205e-01 8.92143080e-01 4.15814139e-02 -4.91656096e+01] [-8.34013588e-02 -4.39310233e-03 9.96506354e-01 -2.51037147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.14629675700002 meters 0.08057957025234588 Centerline is valid? [True, True] Translation: X:210.77, Y:-49.16, Z:-25.11 [[ 8.88521818e-01 -4.53054856e-01 7.25966763e-02 2.10770282e+02] [ 4.51153771e-01 8.91472355e-01 4.16811189e-02 -4.91563638e+01] [-8.36017633e-02 -4.28231932e-03 9.96490044e-01 -2.51052423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.17629675700002 meters 0.08184982738608113 Centerline is valid? [True, True] Translation: X:210.79, Y:-49.14, Z:-25.11 [[ 8.88032524e-01 -4.54083057e-01 7.21582567e-02 2.10792236e+02] [ 4.52206078e-01 8.90949535e-01 4.14558811e-02 -4.91402249e+01] [-8.31137784e-02 -4.18376851e-03 9.96531282e-01 -2.51103171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20629675700002 meters 0.07969761679156233 Centerline is valid? [True, True] Translation: X:210.82, Y:-49.13, Z:-25.11 [[ 8.87570927e-01 -4.55119226e-01 7.13045519e-02 2.10820065e+02] [ 4.53289515e-01 8.90421338e-01 4.09689771e-02 -4.91308183e+01] [-8.21368636e-02 -4.04126726e-03 9.96612866e-01 -2.51129088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23629675700002 meters 0.07780659379277514 Centerline is valid? [True, True] Translation: X:210.85, Y:-49.12, Z:-25.12 [[ 8.85122658e-01 -4.59902582e-01 7.10457325e-02 2.10848336e+02] [ 4.58099603e-01 8.87962060e-01 4.08427900e-02 -4.91210319e+01] [-8.18696195e-02 -3.60485702e-03 9.96636529e-01 -2.51154088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26629675700002 meters 0.07729122976205692 Centerline is valid? [True, True] Translation: X:210.87, Y:-49.11, Z:-25.12 [[ 8.84267401e-01 -4.61637998e-01 7.04380704e-02 2.10873477e+02] [ 4.59869524e-01 8.87061761e-01 4.05148427e-02 -4.91081878e+01] [-8.11861097e-02 -3.43363278e-03 9.96693045e-01 -2.51204532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29629675700002 meters 0.0775714250894707 Centerline is valid? [True, True] Translation: X:210.90, Y:-49.09, Z:-25.13 [[ 8.83635072e-01 -4.62942114e-01 6.98115951e-02 2.10896874e+02] [ 4.61207055e-01 8.86382348e-01 4.01794086e-02 -4.90942099e+01] [-8.04805059e-02 -3.30633445e-03 9.96750699e-01 -2.51250518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32629675700002 meters 0.07884596452899742 Centerline is valid? [True, True] Translation: X:210.92, Y:-49.08, Z:-25.13 [[ 8.83249591e-01 -4.63656541e-01 6.99483538e-02 2.10919056e+02] [ 4.61915967e-01 8.86009028e-01 4.02696096e-02 -4.90772989e+01] [-8.06461408e-02 -3.25785469e-03 9.96737471e-01 -2.51306120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35629675700002 meters 0.07755726313145962 Centerline is valid? [True, True] Translation: X:210.95, Y:-49.07, Z:-25.13 [[ 8.83502845e-01 -4.63264612e-01 6.93442304e-02 2.10945919e+02] [ 4.61552213e-01 8.86213967e-01 3.99294428e-02 -4.90653852e+01] [-7.99517233e-02 -3.27179332e-03 9.96793367e-01 -2.51319097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.38629675700003 meters 0.07816247654496775 Centerline is valid? [True, True] Translation: X:210.97, Y:-49.05, Z:-25.14 [[ 8.83653586e-01 -4.62788566e-01 7.05909560e-02 2.10968059e+02] [ 4.61010347e-01 8.86462183e-01 4.06725823e-02 -4.90492883e+01] [-8.13990190e-02 -3.39731205e-03 9.96675804e-01 -2.51354819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.41629675700003 meters 0.07863611565167357 Centerline is valid? [True, True] Translation: X:210.99, Y:-49.03, Z:-25.14 [[ 8.84015253e-01 -4.61977507e-01 7.13709651e-02 2.10991061e+02] [ 4.60156014e-01 8.86884648e-01 4.11347077e-02 -4.90335008e+01] [-8.23011230e-02 -3.52193030e-03 9.96601285e-01 -2.51379443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.44629675700003 meters 0.07808107074925523 Centerline is valid? [True, True] Translation: X:211.02, Y:-49.02, Z:-25.14 [[ 8.83382248e-01 -4.62863625e-01 7.34375151e-02 2.11015591e+02] [ 4.60937567e-01 8.86422420e-01 4.23302840e-02 -4.90172932e+01] [-8.46898086e-02 -3.54371187e-03 9.96401063e-01 -2.51379035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.47629675700003 meters 0.0785957708885731 Centerline is valid? [True, True] Translation: X:211.04, Y:-49.00, Z:-25.14 [[ 8.83461059e-01 -4.62589396e-01 7.42132612e-02 2.11037720e+02] [ 4.60619247e-01 8.86565211e-01 4.28022998e-02 -4.90014722e+01] [-8.55947856e-02 -3.63010867e-03 9.96323419e-01 -2.51402663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.50629675700003 meters 0.07914776892868358 Centerline is valid? [True, True] Translation: X:211.06, Y:-48.98, Z:-25.14 [[ 8.83413098e-01 -4.62514720e-01 7.52424909e-02 2.11059659e+02] [ 4.60487741e-01 8.86603871e-01 4.34121680e-02 -4.89830157e+01] [-8.67890505e-02 -3.70263312e-03 9.96219831e-01 -2.51423248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.53629675700003 meters 0.07997112218032175 Centerline is valid? [True, True] Translation: X:211.08, Y:-48.97, Z:-25.15 [[ 8.83643551e-01 -4.62064600e-01 7.53019281e-02 2.11081577e+02] [ 4.60032159e-01 8.86838315e-01 4.34536106e-02 -4.89656951e+01] [-8.68590102e-02 -3.75619413e-03 9.96213533e-01 -2.51463480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.56629675700003 meters 0.07952766280485093 Centerline is valid? [True, True] Translation: X:211.11, Y:-48.95, Z:-25.15 [[ 8.83507674e-01 -4.62216868e-01 7.59589188e-02 2.11105582e+02] [ 4.60148433e-01 8.86758850e-01 4.38424770e-02 -4.89505151e+01] [-8.76219759e-02 -3.78278739e-03 9.96146616e-01 -2.51488130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.59629675700003 meters 0.07738441399716799 Centerline is valid? [True, True] Translation: X:211.13, Y:-48.94, Z:-25.15 [[ 8.83866088e-01 -4.61677788e-01 7.50623679e-02 2.11132149e+02] [ 4.59654176e-01 8.87039517e-01 4.33466631e-02 -4.89376319e+01] [-8.65954781e-02 -3.80991464e-03 9.96236271e-01 -2.51492785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.62629675700003 meters 0.08077417173634428 Centerline is valid? [True, True] Translation: X:211.15, Y:-48.92, Z:-25.16 [[ 8.83931660e-01 -4.61563012e-01 7.49960424e-02 2.11150763e+02] [ 4.59540179e-01 8.87099105e-01 4.33359104e-02 -4.89156767e+01] [-8.65311754e-02 -3.84228847e-03 9.96241734e-01 -2.51563668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.65629675700004 meters 0.07668033601137692 Centerline is valid? [True, True] Translation: X:211.18, Y:-48.91, Z:-25.16 [[ 8.83465667e-01 -4.62499101e-01 7.47194535e-02 2.11179531e+02] [ 4.60494119e-01 8.86611859e-01 4.31807633e-02 -4.89072056e+01] [-8.62182177e-02 -3.74085293e-03 9.96269253e-01 -2.51566677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.68629675700004 meters 0.0771285997966385 Centerline is valid? [True, True] Translation: X:211.20, Y:-48.89, Z:-25.16 [[ 8.82548218e-01 -4.64297003e-01 7.44105891e-02 2.11201567e+02] [ 4.62312554e-01 8.85672350e-01 4.30301209e-02 -4.88905647e+01] [-8.58821575e-02 -3.57520704e-03 9.96298887e-01 -2.51618340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.71629675700004 meters 0.07716108804689166 Centerline is valid? [True, True] Translation: X:211.23, Y:-48.88, Z:-25.17 [[ 8.82188924e-01 -4.64924052e-01 7.47551285e-02 2.11225762e+02] [ 4.62922926e-01 8.85343508e-01 4.32346756e-02 -4.88753727e+01] [-8.62848083e-02 -3.53528918e-03 9.96264239e-01 -2.51651175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.74629675700004 meters 0.07440322104306366 Centerline is valid? [True, True] Translation: X:211.25, Y:-48.87, Z:-25.17 [[ 8.79739708e-01 -4.69414697e-01 7.55505709e-02 2.11253841e+02] [ 4.67385053e-01 8.82972209e-01 4.37182946e-02 -4.88652005e+01] [-8.72310645e-02 -3.14951208e-03 9.96183127e-01 -2.51663347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.77629675700004 meters 0.0742306854696823 Centerline is valid? [True, True] Translation: X:211.28, Y:-48.85, Z:-25.17 [[ 8.77982548e-01 -4.72736631e-01 7.52776339e-02 2.11277805e+02] [ 4.70731825e-01 8.81199223e-01 4.35829937e-02 -4.88506203e+01] [-8.69378702e-02 -2.82952988e-03 9.96209717e-01 -2.51715634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.80629675700004 meters 0.07270654496572664 Centerline is valid? [True, True] Translation: X:211.30, Y:-48.84, Z:-25.17 [[ 8.76531213e-01 -4.75342700e-01 7.57782998e-02 2.11304890e+02] [ 4.73318623e-01 8.79796855e-01 4.38973349e-02 -4.88402425e+01] [-8.75357875e-02 -2.61010373e-03 9.96157956e-01 -2.51736859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.83629675700004 meters 0.07087273407336077 Centerline is valid? [True, True] Translation: X:211.33, Y:-48.83, Z:-25.18 [[ 8.73529696e-01 -4.80884382e-01 7.54723888e-02 2.11332929e+02] [ 4.78895173e-01 8.76781578e-01 4.37433073e-02 -4.88319566e+01] [-8.72082735e-02 -2.06771522e-03 9.96187955e-01 -2.51767856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.86629675700001 meters 0.07087273407336077 Centerline is valid? [True, True] Translation: X:211.36, Y:-48.82, Z:-25.18 [[ 8.73401645e-01 -4.81118521e-01 7.54621482e-02 2.11356633e+02] [ 4.79128660e-01 8.76653127e-01 4.37609654e-02 -4.88179963e+01] [-8.72083392e-02 -2.06482121e-03 9.96187955e-01 -2.51797157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.89629675700002 meters 0.07039530522201067 Centerline is valid? [True, True] Translation: X:211.38, Y:-48.81, Z:-25.18 [[ 8.72125608e-01 -4.83447921e-01 7.53328057e-02 2.11381882e+02] [ 4.81470910e-01 8.75371159e-01 4.37160974e-02 -4.88065747e+01] [-8.70786218e-02 -1.85537349e-03 9.96199715e-01 -2.51833422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92629675700002 meters 0.06858679671036627 Centerline is valid? [True, True] Translation: X:211.41, Y:-48.80, Z:-25.18 [[ 8.68623007e-01 -4.89428175e-01 7.71630351e-02 2.11412765e+02] [ 4.87376222e-01 8.72042648e-01 4.47888227e-02 -4.88005950e+01] [-8.92103691e-02 -1.29717328e-03 9.96011961e-01 -2.51826641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95629675700002 meters 0.06808508135339054 Centerline is valid? [True, True] Translation: X:211.44, Y:-48.79, Z:-25.18 [[ 8.66937296e-01 -4.92375250e-01 7.73714232e-02 2.11440041e+02] [ 4.90321680e-01 8.70382431e-01 4.49341084e-02 -4.87891055e+01] [-8.94671702e-02 -1.01816825e-03 9.95989251e-01 -2.51848029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98629675700002 meters 0.06774333664363555 Centerline is valid? [True, True] Translation: X:211.47, Y:-48.78, Z:-25.19 [[ 8.65383254e-01 -4.94933393e-01 7.84395334e-02 2.11465460e+02] [ 4.92830615e-01 8.68930559e-01 4.55814537e-02 -4.87772708e+01] [-9.07182911e-02 -7.88023191e-04 9.95876283e-01 -2.51878402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01629675700002 meters 0.06752320669091595 Centerline is valid? [True, True] Translation: X:211.49, Y:-48.77, Z:-25.19 [[ 8.63309150e-01 -4.98276441e-01 8.01117987e-02 2.11491330e+02] [ 4.96095758e-01 8.67018095e-01 4.65684734e-02 -4.87666642e+01] [-9.26623522e-02 -4.59865719e-04 9.95697483e-01 -2.51926455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04629675700002 meters 0.06727370538229473 Centerline is valid? [True, True] Translation: X:211.52, Y:-48.76, Z:-25.19 [[ 8.62402614e-01 -4.99854946e-01 8.00422601e-02 2.11517094e+02] [ 4.97684243e-01 8.66109084e-01 4.65343823e-02 -4.87550842e+01] [-9.25857697e-02 -2.95601264e-04 9.95704669e-01 -2.51936087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07629675700002 meters 0.06723321347584969 Centerline is valid? [True, True] Translation: X:211.54, Y:-48.74, Z:-25.20 [[ 8.61754890e-01 -5.01020398e-01 7.97312426e-02 2.11543103e+02] [ 4.98868840e-01 8.65435453e-01 4.63827309e-02 -4.87430324e+01] [-9.22409383e-02 -1.95112647e-04 9.95736698e-01 -2.51957489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10629675700002 meters 0.06718727301091662 Centerline is valid? [True, True] Translation: X:211.57, Y:-48.73, Z:-25.20 [[ 8.61470295e-01 -5.01457760e-01 8.00565187e-02 2.11567013e+02] [ 4.99287448e-01 8.65182110e-01 4.66042980e-02 -4.87301619e+01] [-9.26335547e-02 -1.77003475e-04 9.95700253e-01 -2.51995922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.13629675700003 meters 0.06730256458314855 Centerline is valid? [True, True] Translation: X:211.59, Y:-48.72, Z:-25.20 [[ 8.60712153e-01 -5.02954094e-01 7.88147793e-02 2.11593151e+02] [ 5.00855765e-01 8.64313125e-01 4.58947074e-02 -4.87181850e+01] [-9.12035792e-02 -2.72957770e-05 9.95832268e-01 -2.52043655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.16629675700003 meters 0.06726651804536367 Centerline is valid? [True, True] Translation: X:211.62, Y:-48.71, Z:-25.21 [[ 8.60109852e-01 -5.04078272e-01 7.82057429e-02 2.11618697e+02] [ 5.02014694e-01 8.63657971e-01 4.55648571e-02 -4.87054752e+01] [-9.05112677e-02 6.96496255e-05 9.95895429e-01 -2.52082440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.19629675700003 meters 0.06720376473110756 Centerline is valid? [True, True] Translation: X:211.64, Y:-48.69, Z:-25.21 [[ 8.59565239e-01 -5.05176009e-01 7.71025255e-02 2.11643399e+02] [ 5.03172410e-01 8.63016323e-01 4.49483184e-02 -4.86937073e+01] [-8.92475502e-02 1.59851519e-04 9.96009462e-01 -2.52112881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.22629675700003 meters 0.06721645808581322 Centerline is valid? [True, True] Translation: X:211.67, Y:-48.68, Z:-25.22 [[ 8.58402305e-01 -5.07239735e-01 7.65070789e-02 2.11670426e+02] [ 5.05274005e-01 8.61804921e-01 4.46145507e-02 -4.86822368e+01] [-8.85644500e-02 3.59804991e-04 9.96070383e-01 -2.52154133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.25629675700003 meters 0.06714820411576004 Centerline is valid? [True, True] Translation: X:211.70, Y:-48.67, Z:-25.22 [[ 8.57159235e-01 -5.09334315e-01 7.65284375e-02 2.11696859e+02] [ 5.07373613e-01 8.60568561e-01 4.46516339e-02 -4.86695895e+01] [-8.86005767e-02 5.54949474e-04 9.96067081e-01 -2.52184707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.28629675700003 meters 0.06720065801660279 Centerline is valid? [True, True] Translation: X:211.72, Y:-48.66, Z:-25.22 [[ 8.56062875e-01 -5.11190643e-01 7.64230374e-02 2.11723762e+02] [ 5.09240551e-01 8.59467045e-01 4.46145786e-02 -4.86581096e+01] [-8.84896372e-02 7.24825214e-04 9.96076834e-01 -2.52208178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.31629675700003 meters 0.06739799046248734 Centerline is valid? [True, True] Translation: X:211.75, Y:-48.65, Z:-25.22 [[ 8.54641714e-01 -5.13507240e-01 7.67974911e-02 2.11748813e+02] [ 5.11544938e-01 8.58084738e-01 4.48593131e-02 -4.86469095e+01] [-8.89343371e-02 9.46727620e-04 9.96037041e-01 -2.52238936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.34629675700003 meters 0.06722133021907754 Centerline is valid? [True, True] Translation: X:211.77, Y:-48.64, Z:-25.22 [[ 8.53005561e-01 -5.15953194e-01 7.85736271e-02 2.11774499e+02] [ 5.13907746e-01 8.56615914e-01 4.59130059e-02 -4.86356712e+01] [-9.09963814e-02 1.21554621e-03 9.95850481e-01 -2.52238297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.37629675700003 meters 0.06737294260340097 Centerline is valid? [True, True] Translation: X:211.80, Y:-48.62, Z:-25.23 [[ 8.52203871e-01 -5.17251304e-01 7.87378582e-02 2.11799692e+02] [ 5.15199912e-01 8.55832530e-01 4.60405339e-02 -4.86233824e+01] [-9.12009466e-02 1.32981639e-03 9.95831622e-01 -2.52271637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.40629675700004 meters 0.06745919280044604 Centerline is valid? [True, True] Translation: X:211.82, Y:-48.61, Z:-25.23 [[ 8.51979881e-01 -5.17652959e-01 7.85219412e-02 2.11824310e+02] [ 5.15613372e-01 8.55589603e-01 4.59269197e-02 -4.86105113e+01] [-9.09567624e-02 1.35815129e-03 9.95853916e-01 -2.52297780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.43629675700004 meters 0.06776052079336915 Centerline is valid? [True, True] Translation: X:211.85, Y:-48.60, Z:-25.23 [[ 8.51464448e-01 -5.18600719e-01 7.78562004e-02 2.11848920e+02] [ 5.16598642e-01 8.55015337e-01 4.55479576e-02 -4.85957331e+01] [-9.01894490e-02 1.43794083e-03 9.95923589e-01 -2.52328282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.46629675700004 meters 0.06805566553841898 Centerline is valid? [True, True] Translation: X:211.87, Y:-48.58, Z:-25.24 [[ 8.50584001e-01 -5.20056029e-01 7.77726444e-02 2.11874051e+02] [ 5.18062161e-01 8.54130705e-01 4.55229084e-02 -4.85816413e+01] [-9.01024666e-02 1.57000672e-03 9.95931263e-01 -2.52364131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.49629675700004 meters 0.067761646771693 Centerline is valid? [True, True] Translation: X:211.90, Y:-48.56, Z:-25.24 [[ 8.49936814e-01 -5.21098651e-01 7.78691755e-02 2.11898151e+02] [ 5.19102056e-01 8.53494834e-01 4.56028819e-02 -4.85646894e+01] [-9.02245393e-02 1.66248098e-03 9.95920061e-01 -2.52372587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.52629675700004 meters 0.06795604392164543 Centerline is valid? [True, True] Translation: X:211.92, Y:-48.55, Z:-25.24 [[ 8.49368212e-01 -5.22017768e-01 7.79172097e-02 2.11922859e+02] [ 5.20020312e-01 8.52932836e-01 4.56558026e-02 -4.85509878e+01] [-9.02912868e-02 1.73994430e-03 9.95913880e-01 -2.52415347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.55629675700004 meters 0.06769589813809845 Centerline is valid? [True, True] Translation: X:211.95, Y:-48.54, Z:-25.24 [[ 8.48707912e-01 -5.23110343e-01 7.77846389e-02 2.11947178e+02] [ 5.21122097e-01 8.52262994e-01 4.56020647e-02 -4.85357466e+01] [-9.01478810e-02 1.83246102e-03 9.95926705e-01 -2.52430805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.58629675700004 meters 0.06808639930368057 Centerline is valid? [True, True] Translation: X:211.97, Y:-48.52, Z:-25.25 [[ 8.48413632e-01 -5.23546422e-01 7.80605683e-02 2.11970704e+02] [ 5.21543425e-01 8.51995114e-01 4.57906315e-02 -4.85237846e+01] [-9.04807441e-02 1.86258016e-03 9.95896463e-01 -2.52480236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.61629675700001 meters 0.06788295400858901 Centerline is valid? [True, True] Translation: X:211.99, Y:-48.51, Z:-25.25 [[ 8.48574234e-01 -5.23194982e-01 7.86688054e-02 2.11993857e+02] [ 5.21157712e-01 8.52211050e-01 4.61623726e-02 -4.85059950e+01] [-9.11943470e-02 1.82665469e-03 9.95831439e-01 -2.52493643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.64629675700002 meters 0.06789304900534021 Centerline is valid? [True, True] Translation: X:212.02, Y:-48.49, Z:-25.25 [[ 8.49163906e-01 -5.22315672e-01 7.81472950e-02 2.12016839e+02] [ 5.20299154e-01 8.52750526e-01 4.58838858e-02 -4.84907860e+01] [-9.06060196e-02 1.69703178e-03 9.95885370e-01 -2.52523119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.67629675700002 meters 0.06787922915489723 Centerline is valid? [True, True] Translation: X:212.04, Y:-48.47, Z:-25.26 [[ 8.49190388e-01 -5.22389576e-01 7.73615963e-02 2.12041037e+02] [ 5.20413272e-01 8.52705283e-01 4.54282641e-02 -4.84744229e+01] [-8.96978935e-02 1.68275625e-03 9.95967598e-01 -2.52557587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70629675700002 meters 0.06768056034594498 Centerline is valid? [True, True] Translation: X:212.06, Y:-48.46, Z:-25.26 [[ 8.50534547e-01 -5.20140184e-01 7.77507194e-02 2.12064089e+02] [ 5.18132097e-01 8.54079707e-01 4.56835299e-02 -4.84563928e+01] [-9.01671512e-02 1.42972290e-03 9.95925620e-01 -2.52594205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73629675700002 meters 0.06766310033206745 Centerline is valid? [True, True] Translation: X:212.09, Y:-48.44, Z:-25.26 [[ 8.51250910e-01 -5.19168593e-01 7.63927955e-02 2.12087586e+02] [ 5.17225452e-01 8.54670868e-01 4.48947493e-02 -4.84405367e+01] [-8.85986407e-02 1.29560196e-03 9.96066565e-01 -2.52631637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76629675700002 meters 0.0673381532673295 Centerline is valid? [True, True] Translation: X:212.11, Y:-48.42, Z:-25.27 [[ 8.52637631e-01 -5.17044514e-01 7.53262261e-02 2.12109677e+02] [ 5.15144458e-01 8.55957885e-01 4.42977002e-02 -4.84224587e+01] [-8.73799600e-02 1.03400180e-03 9.96174520e-01 -2.52656447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79629675700002 meters 0.06729229364292667 Centerline is valid? [True, True] Translation: X:212.13, Y:-48.41, Z:-25.27 [[ 8.53080933e-01 -5.16291950e-01 7.54688270e-02 2.12133519e+02] [ 5.14380637e-01 8.56412122e-01 4.43941068e-02 -4.84064324e+01] [-8.75527383e-02 9.47937316e-04 9.96159435e-01 -2.52692909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82629675700002 meters 0.06724768876318592 Centerline is valid? [True, True] Translation: X:212.16, Y:-48.39, Z:-25.27 [[ 8.53816497e-01 -5.15100851e-01 7.52894574e-02 2.12157426e+02] [ 5.13192004e-01 8.57129200e-01 4.43114061e-02 -4.83900867e+01] [-8.73576354e-02 8.04137995e-04 9.96176690e-01 -2.52728917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85629675700002 meters 0.06735994465322419 Centerline is valid? [True, True] Translation: X:212.18, Y:-48.37, Z:-25.28 [[ 8.55245072e-01 -5.12693427e-01 7.55070708e-02 2.12179983e+02] [ 5.10762120e-01 8.58571580e-01 4.44623266e-02 -4.83708829e+01] [-8.76237677e-02 5.39965866e-04 9.96153494e-01 -2.52751717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.88629675700003 meters 0.06742465262109747 Centerline is valid? [True, True] Translation: X:212.20, Y:-48.35, Z:-25.28 [[ 8.56964038e-01 -5.09885724e-01 7.50279049e-02 2.12201001e+02] [ 5.07966209e-01 8.60242114e-01 4.42022171e-02 -4.83515965e+01] [-8.70802430e-02 2.31930000e-04 9.96201274e-01 -2.52790507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.91629675700003 meters 0.0674772196773498 Centerline is valid? [True, True] Translation: X:212.22, Y:-48.33, Z:-25.28 [[ 8.58004061e-01 -5.08060526e-01 7.55217425e-02 2.12224575e+02] [ 5.06106393e-01 8.61321370e-01 4.45176034e-02 -4.83339880e+01] [-8.76661276e-02 2.57521803e-05 9.96149913e-01 -2.52800601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.94629675700003 meters 0.06748422606495817 Centerline is valid? [True, True] Translation: X:212.25, Y:-48.32, Z:-25.28 [[ 8.58970758e-01 -5.06593434e-01 7.43796379e-02 2.12248271e+02] [ 5.04690579e-01 8.62185057e-01 4.38673790e-02 -4.83169250e+01] [-8.63519385e-02 -1.42093254e-04 9.96264685e-01 -2.52826273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.97629675700003 meters 0.0676587815079937 Centerline is valid? [True, True] Translation: X:212.27, Y:-48.30, Z:-25.29 [[ 8.60991541e-01 -5.03128886e-01 7.45311393e-02 2.12269823e+02] [ 5.01203109e-01 8.64211237e-01 4.39816157e-02 -4.82983486e+01] [-8.65390693e-02 -5.12560337e-04 9.96248326e-01 -2.52860283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.00629675700003 meters 0.06783434972278662 Centerline is valid? [True, True] Translation: X:212.29, Y:-48.28, Z:-25.29 [[ 8.61969216e-01 -5.01468357e-01 7.44214884e-02 2.12292353e+02] [ 4.99541041e-01 8.65175712e-01 4.39287627e-02 -4.82819664e+01] [-8.64165487e-02 -6.88653363e-04 9.96258855e-01 -2.52895698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.03629675700003 meters 0.06780763420507113 Centerline is valid? [True, True] Translation: X:212.32, Y:-48.26, Z:-25.29 [[ 8.63407213e-01 -4.98888983e-01 7.50850644e-02 2.12315146e+02] [ 4.96916284e-01 8.66665362e-01 4.43323382e-02 -4.82645183e+01] [-8.71905397e-02 -9.65869352e-04 9.96191185e-01 -2.52916854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.06629675700003 meters 0.06806348362197819 Centerline is valid? [True, True] Translation: X:212.34, Y:-48.25, Z:-25.29 [[ 8.64146108e-01 -4.97574413e-01 7.53074136e-02 2.12338903e+02] [ 4.95582871e-01 8.67420568e-01 4.44879271e-02 -4.82479370e+01] [-8.74592538e-02 -1.12300478e-03 9.96167465e-01 -2.52949842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.09629675700003 meters 0.0685029959007376 Centerline is valid? [True, True] Translation: X:212.36, Y:-48.23, Z:-25.30 [[ 8.65477975e-01 -4.95156431e-01 7.59472412e-02 2.12361715e+02] [ 4.93119365e-01 8.68802709e-01 4.48903535e-02 -4.82303001e+01] [-8.82109162e-02 -1.40055686e-03 9.96100835e-01 -2.52989599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.12629675700003 meters 0.06869194430321221 Centerline is valid? [True, True] Translation: X:212.39, Y:-48.21, Z:-25.30 [[ 8.66132793e-01 -4.93985687e-01 7.61060157e-02 2.12385832e+02] [ 4.91933415e-01 8.69468663e-01 4.50084296e-02 -4.82143929e+01] [-8.84053158e-02 -1.54418457e-03 9.96083388e-01 -2.53014931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.15629675700004 meters 0.0693003842716153 Centerline is valid? [True, True] Translation: X:212.41, Y:-48.20, Z:-25.30 [[ 8.67452776e-01 -4.91520060e-01 7.70305889e-02 2.12408748e+02] [ 4.89405539e-01 8.70864310e-01 4.55803959e-02 -4.81968633e+01] [-8.94868696e-02 -1.83964410e-03 9.95986303e-01 -2.53037979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.18629675700004 meters 0.06962005652519156 Centerline is valid? [True, True] Translation: X:212.43, Y:-48.18, Z:-25.31 [[ 8.68160242e-01 -4.90235072e-01 7.72487400e-02 2.12431873e+02] [ 4.88101217e-01 8.71587962e-01 4.57343013e-02 -4.81803429e+01] [-8.97496304e-02 -1.99949814e-03 9.95962352e-01 -2.53074791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.21629675700004 meters 0.07005277015592709 Centerline is valid? [True, True] Translation: X:212.46, Y:-48.16, Z:-25.31 [[ 8.68731608e-01 -4.89164706e-01 7.76098178e-02 2.12455869e+02] [ 4.87004528e-01 8.72188806e-01 4.59703901e-02 -4.81634139e+01] [-9.01775066e-02 -2.13959818e-03 9.95923410e-01 -2.53102678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.24629675700004 meters 0.0704967716970555 Centerline is valid? [True, True] Translation: X:212.48, Y:-48.15, Z:-25.31 [[ 8.70269608e-01 -4.86322797e-01 7.82364731e-02 2.12479656e+02] [ 4.84113781e-01 8.73775719e-01 4.63663684e-02 -4.81466194e+01] [-9.09101525e-02 -2.47588644e-03 9.95856021e-01 -2.53128311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.27629675700004 meters 0.07063829785052475 Centerline is valid? [True, True] Translation: X:212.50, Y:-48.13, Z:-25.32 [[ 8.70449335e-01 -4.85911737e-01 7.87892025e-02 2.12504134e+02] [ 4.83667261e-01 8.74004138e-01 4.67198819e-02 -4.81311424e+01] [-9.15638280e-02 -2.55953238e-03 9.95795920e-01 -2.53156783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.30629675700004 meters 0.07219374857491535 Centerline is valid? [True, True] Translation: X:212.52, Y:-48.11, Z:-25.32 [[ 8.72369035e-01 -4.82287565e-01 7.98183733e-02 2.12524754e+02] [ 4.79966087e-01 8.76007807e-01 4.73590196e-02 -4.81117514e+01] [-9.27621844e-02 -3.00442993e-03 9.95683760e-01 -2.53202056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.33629675700004 meters 0.0727817049985488 Centerline is valid? [True, True] Translation: X:212.55, Y:-48.10, Z:-25.32 [[ 8.72975332e-01 -4.81258190e-01 7.94016631e-02 2.12548366e+02] [ 4.78955844e-01 8.76573391e-01 4.71210120e-02 -4.80954056e+01] [-9.22787580e-02 -3.10559053e-03 9.95728370e-01 -2.53236385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.36629675700001 meters 0.07278389506429486 Centerline is valid? [True, True] Translation: X:212.57, Y:-48.08, Z:-25.33 [[ 8.73880499e-01 -4.79732484e-01 7.86741245e-02 2.12573493e+02] [ 4.77463786e-01 8.77408756e-01 4.67141028e-02 -4.80806835e+01] [-9.14396384e-02 -3.25849807e-03 9.95805290e-01 -2.53264286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.39629675700002 meters 0.07391938574824829 Centerline is valid? [True, True] Translation: X:212.60, Y:-48.06, Z:-25.33 [[ 8.75261908e-01 -4.77038802e-01 7.96904868e-02 2.12595812e+02] [ 4.74697129e-01 8.78874813e-01 4.73465892e-02 -4.80641868e+01] [-9.26241218e-02 -3.61182066e-03 9.95694595e-01 -2.53313614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42629675700002 meters 0.07442820732162166 Centerline is valid? [True, True] Translation: X:212.62, Y:-48.05, Z:-25.33 [[ 8.75999753e-01 -4.75729975e-01 7.94066984e-02 2.12620041e+02] [ 4.73399000e-01 8.79583414e-01 4.71847931e-02 -4.80486629e+01] [-9.22920353e-02 -3.74281553e-03 9.95724948e-01 -2.53347657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45629675700002 meters 0.07670940382120689 Centerline is valid? [True, True] Translation: X:212.64, Y:-48.03, Z:-25.34 [[ 8.78242943e-01 -4.71542613e-01 7.96046301e-02 2.12641136e+02] [ 4.69180227e-01 8.81833186e-01 4.73301805e-02 -4.80295150e+01] [-9.25162016e-02 -4.21847859e-03 9.95702243e-01 -2.53403742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48629675700002 meters 0.07772123446680765 Centerline is valid? [True, True] Translation: X:212.66, Y:-48.01, Z:-25.34 [[ 8.79179405e-01 -4.69813657e-01 7.94902580e-02 2.12664113e+02] [ 4.67449713e-01 8.82754614e-01 4.72763877e-02 -4.80128480e+01] [-9.23814846e-02 -4.40672810e-03 9.95713936e-01 -2.53440543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51629675700002 meters 0.07729509971930179 Centerline is valid? [True, True] Translation: X:212.69, Y:-48.00, Z:-25.35 [[ 8.80057188e-01 -4.68156503e-01 7.95539730e-02 2.12690059e+02] [ 4.65781530e-01 8.83633651e-01 4.73195307e-02 -4.79991555e+01] [-9.24495136e-02 -4.58912184e-03 9.95706798e-01 -2.53475922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54629675700002 meters 0.08007938859025035 Centerline is valid? [True, True] Translation: X:212.71, Y:-47.98, Z:-25.35 [[ 8.81455939e-01 -4.65270127e-01 8.09884951e-02 2.12711663e+02] [ 4.62793698e-01 8.85154589e-01 4.82010945e-02 -4.79804059e+01] [-9.41138674e-02 -5.00617583e-03 9.95548853e-01 -2.53508674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57629675700002 meters 0.08090326253243929 Centerline is valid? [True, True] Translation: X:212.74, Y:-47.96, Z:-25.35 [[ 8.82137982e-01 -4.64023453e-01 8.07144087e-02 2.12735524e+02] [ 4.61557515e-01 8.85808048e-01 4.80495885e-02 -4.79648362e+01] [-9.37936088e-02 -5.13202507e-03 9.95578436e-01 -2.53540247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60629675700002 meters 0.08131251556623557 Centerline is valid? [True, True] Translation: X:212.76, Y:-47.95, Z:-25.36 [[ 8.83303665e-01 -4.61723889e-01 8.11522379e-02 2.12760190e+02] [ 4.59220667e-01 8.87007189e-01 4.83179680e-02 -4.79504751e+01] [-9.42921786e-02 -5.41265344e-03 9.95529853e-01 -2.53578236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.63629675700003 meters 0.08188593465498215 Centerline is valid? [True, True] Translation: X:212.78, Y:-47.94, Z:-25.36 [[ 8.84283897e-01 -4.60001409e-01 8.02539310e-02 2.12784394e+02] [ 4.57544413e-01 8.87900823e-01 4.78041739e-02 -4.79356455e+01] [-9.32475187e-02 -5.55272337e-03 9.95627474e-01 -2.53618295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.66629675700003 meters 0.08312538010522351 Centerline is valid? [True, True] Translation: X:212.81, Y:-47.92, Z:-25.37 [[ 8.84829735e-01 -4.58918183e-01 8.04390585e-02 2.12806949e+02] [ 4.56444586e-01 8.88460328e-01 4.79227091e-02 -4.79194823e+01] [-9.34595149e-02 -5.68746526e-03 9.95606836e-01 -2.53652993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.69629675700003 meters 0.08215301743586309 Centerline is valid? [True, True] Translation: X:212.83, Y:-47.91, Z:-25.37 [[ 8.84691525e-01 -4.59397598e-01 7.92133321e-02 2.12832842e+02] [ 4.57000348e-01 8.88213365e-01 4.71985184e-02 -4.79094099e+01] [-9.20412262e-02 -5.55560899e-03 9.95739699e-01 -2.53695607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.72629675700003 meters 0.08357897836581206 Centerline is valid? [True, True] Translation: X:212.86, Y:-47.89, Z:-25.38 [[ 8.84356285e-01 -4.60076818e-01 7.90144439e-02 2.12855925e+02] [ 4.57691184e-01 8.87862071e-01 4.71139256e-02 -4.78941237e+01] [-9.18299528e-02 -5.50128177e-03 9.95759507e-01 -2.53751123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.75629675700003 meters 0.08357897836581206 Centerline is valid? [True, True] Translation: X:212.88, Y:-47.88, Z:-25.38 [[ 8.84229531e-01 -4.60320863e-01 7.90116427e-02 2.12879491e+02] [ 4.57935780e-01 8.87735691e-01 4.71186235e-02 -4.78798624e+01] [-9.18311407e-02 -5.48142017e-03 9.95759507e-01 -2.53780568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.78629675700003 meters 0.08172912306977265 Centerline is valid? [True, True] Translation: X:212.91, Y:-47.87, Z:-25.38 [[ 8.82524604e-01 -4.63512112e-01 7.94156531e-02 2.12908986e+02] [ 4.61112479e-01 8.86075305e-01 4.73902585e-02 -4.78721606e+01] [-9.23342078e-02 -5.20352040e-03 9.95714476e-01 -2.53824030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.81629675700003 meters 0.08243733297696235 Centerline is valid? [True, True] Translation: X:212.93, Y:-47.86, Z:-25.39 [[ 8.81762802e-01 -4.64982654e-01 7.92811042e-02 2.12933203e+02] [ 4.62594517e-01 8.85305299e-01 4.73375104e-02 -4.78584096e+01] [-9.21991029e-02 -5.06545172e-03 9.95727707e-01 -2.53861647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.84629675700003 meters 0.08020464456216038 Centerline is valid? [True, True] Translation: X:212.96, Y:-47.85, Z:-25.39 [[ 8.79552834e-01 -4.68896928e-01 8.07618931e-02 2.12963243e+02] [ 4.66433997e-01 8.83240110e-01 4.82310507e-02 -4.78528356e+01] [-9.39475349e-02 -4.75166477e-03 9.95565810e-01 -2.53879917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.87629675700003 meters 0.07836882015692063 Centerline is valid? [True, True] Translation: X:212.99, Y:-47.84, Z:-25.39 [[ 8.78225653e-01 -4.71212893e-01 8.17197141e-02 2.12991780e+02] [ 4.68699784e-01 8.82007671e-01 4.88157849e-02 -4.78442902e+01] [-9.50800419e-02 -4.56926219e-03 9.95459144e-01 -2.53897605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.90629675700004 meters 0.07821737189418926 Centerline is valid? [True, True] Translation: X:213.02, Y:-47.83, Z:-25.39 [[ 8.77095824e-01 -4.73147503e-01 8.26701683e-02 2.13017049e+02] [ 4.70583007e-01 8.80972137e-01 4.93935881e-02 -4.78320684e+01] [-9.62005677e-02 -4.41973347e-03 9.95352157e-01 -2.53924028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.93629675700004 meters 0.07653653195176031 Centerline is valid? [True, True] Translation: X:213.05, Y:-47.83, Z:-25.39 [[ 8.75219507e-01 -4.76563986e-01 8.29311889e-02 2.13046336e+02] [ 4.73997123e-01 8.79130369e-01 4.95633145e-02 -4.78250264e+01] [-9.65274174e-02 -4.06963476e-03 9.95322006e-01 -2.53942348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.96629675700004 meters 0.07639116060668205 Centerline is valid? [True, True] Translation: X:213.07, Y:-47.81, Z:-25.40 [[ 8.74955365e-01 -4.77105891e-01 8.26019255e-02 2.13071427e+02] [ 4.74560307e-01 8.78836679e-01 4.93822584e-02 -4.78118856e+01] [-9.61541682e-02 -4.00767683e-03 9.95358385e-01 -2.53982632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.99629675700004 meters 0.07700606412296754 Centerline is valid? [True, True] Translation: X:213.10, Y:-47.79, Z:-25.40 [[ 8.75899772e-01 -4.75182773e-01 8.36715068e-02 2.13095043e+02] [ 4.72559130e-01 8.79876610e-01 5.00501754e-02 -4.77944652e+01] [-9.74035829e-02 -4.29920277e-03 9.95235680e-01 -2.54009319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.02629675700004 meters 0.07672417520515899 Centerline is valid? [True, True] Translation: X:213.12, Y:-47.78, Z:-25.40 [[ 8.75987327e-01 -4.74977080e-01 8.39224401e-02 2.13119968e+02] [ 4.72334021e-01 8.79987370e-01 5.02275056e-02 -4.77804855e+01] [-9.77076013e-02 -4.35923484e-03 9.95205618e-01 -2.54039575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.05629675700004 meters 0.07734173433963053 Centerline is valid? [True, True] Translation: X:213.14, Y:-47.76, Z:-25.41 [[ 8.75674554e-01 -4.75544967e-01 8.39705945e-02 2.13142614e+02] [ 4.72898517e-01 8.79680783e-01 5.02863033e-02 -4.77643826e+01] [-9.77807168e-02 -4.32486660e-03 9.95198587e-01 -2.54076487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.08629675700004 meters 0.07544298174687135 Centerline is valid? [True, True] Translation: X:213.17, Y:-47.75, Z:-25.41 [[ 8.74376528e-01 -4.77917106e-01 8.40293224e-02 2.13170012e+02] [ 4.75276950e-01 8.78395509e-01 5.03304086e-02 -4.77532244e+01] [-9.78647427e-02 -4.07052787e-03 9.95191400e-01 -2.54088864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.11629675700001 meters 0.07608977104507067 Centerline is valid? [True, True] Translation: X:213.19, Y:-47.74, Z:-25.41 [[ 8.73686144e-01 -4.79062737e-01 8.46842105e-02 2.13192480e+02] [ 4.76384148e-01 8.77771576e-01 5.07464714e-02 -4.77367110e+01] [-9.86441364e-02 -3.99427354e-03 9.95114757e-01 -2.54120499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.14629675700002 meters 0.07559889697471871 Centerline is valid? [True, True] Translation: X:213.22, Y:-47.72, Z:-25.42 [[ 8.73136433e-01 -4.80106026e-01 8.44450855e-02 2.13216617e+02] [ 4.77445956e-01 8.77201892e-01 5.06181723e-02 -4.77232283e+01] [-9.83774784e-02 -3.87860581e-03 9.95141612e-01 -2.54158714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.17629675700002 meters 0.07520431360763098 Centerline is valid? [True, True] Translation: X:213.24, Y:-47.71, Z:-25.42 [[ 8.72686551e-01 -4.80950037e-01 8.42926168e-02 2.13241281e+02] [ 4.78302173e-01 8.76739818e-01 5.05403074e-02 -4.77090258e+01] [-9.82100562e-02 -3.78850481e-03 9.95158496e-01 -2.54185547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20629675700002 meters 0.07437020732421755 Centerline is valid? [True, True] Translation: X:213.27, Y:-47.70, Z:-25.42 [[ 8.72410790e-01 -4.81507068e-01 8.39664094e-02 2.13266340e+02] [ 4.78879633e-01 8.76434250e-01 5.03716547e-02 -4.76968587e+01] [-9.78453447e-02 -3.73497173e-03 9.95194623e-01 -2.54205214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23629675700002 meters 0.07502059025627307 Centerline is valid? [True, True] Translation: X:213.29, Y:-47.68, Z:-25.43 [[ 8.72379124e-01 -4.81785580e-01 8.26880795e-02 2.13287695e+02] [ 4.79235724e-01 8.76281426e-01 4.96385183e-02 -4.76803967e+01] [-9.63731506e-02 -3.67652549e-03 9.95338485e-01 -2.54254729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26629675700002 meters 0.0741970708251966 Centerline is valid? [True, True] Translation: X:213.31, Y:-47.67, Z:-25.43 [[ 8.71397751e-01 -4.83615827e-01 8.23510284e-02 2.13313083e+02] [ 4.81093775e-01 8.75273495e-01 4.94478433e-02 -4.76666794e+01] [-9.59934320e-02 -3.47017235e-03 9.95375918e-01 -2.54280289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29629675700002 meters 0.07429756619934685 Centerline is valid? [True, True] Translation: X:213.34, Y:-47.65, Z:-25.43 [[ 8.70838366e-01 -4.84477174e-01 8.32010105e-02 2.13336110e+02] [ 4.81903665e-01 8.74797152e-01 4.99880016e-02 -4.76516979e+01] [-9.70020528e-02 -3.43659775e-03 9.95278248e-01 -2.54318388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32629675700002 meters 0.0732239382755717 Centerline is valid? [True, True] Translation: X:213.36, Y:-47.64, Z:-25.43 [[ 8.70154417e-01 -4.85628840e-01 8.36416190e-02 2.13362527e+02] [ 4.83032422e-01 8.74158750e-01 5.02609088e-02 -4.76395838e+01] [-9.75241999e-02 -3.33313802e-03 9.95227572e-01 -2.54332084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35629675700002 meters 0.07170231416709537 Centerline is valid? [True, True] Translation: X:213.39, Y:-47.63, Z:-25.43 [[ 8.68731514e-01 -4.88052346e-01 8.43235750e-02 2.13389517e+02] [ 4.85421813e-01 8.72808813e-01 5.06994976e-02 -4.76281397e+01] [-9.83423682e-02 -3.11174873e-03 9.95147776e-01 -2.54342399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.38629675700003 meters 0.07153418430668093 Centerline is valid? [True, True] Translation: X:213.41, Y:-47.61, Z:-25.44 [[ 8.67845898e-01 -4.89566566e-01 8.46644888e-02 2.13414280e+02] [ 4.86919229e-01 8.71960851e-01 5.09307267e-02 -4.76138313e+01] [-9.87581006e-02 -2.97525460e-03 9.95107022e-01 -2.54368897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.41629675700003 meters 0.07135430953725445 Centerline is valid? [True, True] Translation: X:213.44, Y:-47.60, Z:-25.44 [[ 8.66808490e-01 -4.91407408e-01 8.46274245e-02 2.13437802e+02] [ 4.88768033e-01 8.70925350e-01 5.09396147e-02 -4.75997733e+01] [-9.87362733e-02 -2.79171068e-03 9.95109720e-01 -2.54398969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.44629675700003 meters 0.07098783186116793 Centerline is valid? [True, True] Translation: X:213.46, Y:-47.59, Z:-25.44 [[ 8.66310267e-01 -4.92149709e-01 8.54118563e-02 2.13463200e+02] [ 4.89463690e-01 8.70506262e-01 5.14212419e-02 -4.75858433e+01] [-9.96585050e-02 -2.74074753e-03 9.95017925e-01 -2.54433098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.47629675700003 meters 0.07077661246119087 Centerline is valid? [True, True] Translation: X:213.49, Y:-47.57, Z:-25.45 [[ 8.65494060e-01 -4.93591637e-01 8.53658472e-02 2.13488249e+02] [ 4.90912551e-01 8.69689910e-01 5.14230249e-02 -4.75720615e+01] [-9.96237911e-02 -2.59915678e-03 9.95021781e-01 -2.54459397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.50629675700003 meters 0.07025558056235806 Centerline is valid? [True, True] Translation: X:213.51, Y:-47.56, Z:-25.45 [[ 8.63347556e-01 -4.97591231e-01 8.38687367e-02 2.13512898e+02] [ 4.95021317e-01 8.67409041e-01 5.05514738e-02 -4.75595266e+01] [-9.79024705e-02 -2.12667892e-03 9.95193742e-01 -2.54497125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.53629675700003 meters 0.07011628486954512 Centerline is valid? [True, True] Translation: X:213.54, Y:-47.55, Z:-25.45 [[ 8.62385298e-01 -4.99380725e-01 8.31293525e-02 2.13537312e+02] [ 4.96863335e-01 8.66380530e-01 5.01158978e-02 -4.75464905e+01] [-9.70485659e-02 -1.91528606e-03 9.95277804e-01 -2.54527048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.56629675700003 meters 0.06925135594765496 Centerline is valid? [True, True] Translation: X:213.56, Y:-47.54, Z:-25.46 [[ 8.59438387e-01 -5.04430394e-01 8.31603017e-02 2.13564851e+02] [ 5.01933816e-01 8.63451299e-01 5.01427845e-02 -4.75367167e+01] [-9.70984150e-02 -1.35366628e-03 9.95273865e-01 -2.54571517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.59629675700003 meters 0.06901927601609009 Centerline is valid? [True, True] Translation: X:213.59, Y:-47.52, Z:-25.46 [[ 8.58245021e-01 -5.06503093e-01 8.28860687e-02 2.13590663e+02] [ 5.04029908e-01 8.62237390e-01 5.00053419e-02 -4.75244245e+01] [-9.67953279e-02 -1.13977815e-03 9.95303655e-01 -2.54599635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.62629675700003 meters 0.06886277887831282 Centerline is valid? [True, True] Translation: X:213.62, Y:-47.51, Z:-25.46 [[ 8.56922631e-01 -5.08743090e-01 8.28497019e-02 2.13615457e+02] [ 5.06279590e-01 8.60917903e-01 5.00134027e-02 -4.75111213e+01] [-9.67707646e-02 -9.12503478e-04 9.95306278e-01 -2.54632017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.65629675700004 meters 0.06857340682916013 Centerline is valid? [True, True] Translation: X:213.64, Y:-47.50, Z:-25.47 [[ 8.54008495e-01 -5.13526001e-01 8.34298348e-02 2.13642961e+02] [ 5.11049647e-01 8.58073949e-01 5.03721889e-02 -4.75002837e+01] [-9.74563965e-02 -3.81489614e-04 9.95239723e-01 -2.54657175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.68629675700004 meters 0.06826419703113319 Centerline is valid? [True, True] Translation: X:213.67, Y:-47.49, Z:-25.47 [[ 8.52730478e-01 -5.15674780e-01 8.32481421e-02 2.13667836e+02] [ 5.13216824e-01 8.56784393e-01 5.02891114e-02 -4.74882168e+01] [-9.72585353e-02 -1.58710868e-04 9.95259138e-01 -2.54691840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.71629675700004 meters 0.06813509868776439 Centerline is valid? [True, True] Translation: X:213.69, Y:-47.48, Z:-25.47 [[ 8.50564362e-01 -5.19203875e-01 8.34721642e-02 2.13693993e+02] [ 5.16746467e-01 8.54650390e-01 5.04559178e-02 -4.74767046e+01] [-9.75364257e-02 2.17940429e-04 9.95231932e-01 -2.54716618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.74629675700004 meters 0.06818809926673765 Centerline is valid? [True, True] Translation: X:213.72, Y:-47.46, Z:-25.48 [[ 8.49501580e-01 -5.20864801e-01 8.39459644e-02 2.13717612e+02] [ 5.18384133e-01 8.53639100e-01 5.07757638e-02 -4.74641721e+01] [-9.81068656e-02 3.82164427e-04 9.95175812e-01 -2.54754686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.77629675700004 meters 0.06816379862301268 Centerline is valid? [True, True] Translation: X:213.74, Y:-47.45, Z:-25.48 [[ 8.47958387e-01 -5.23401687e-01 8.37690127e-02 2.13743694e+02] [ 5.20942170e-01 8.52085816e-01 5.06854748e-02 -4.74522333e+01] [-9.79072506e-02 6.59637758e-04 9.95195325e-01 -2.54792385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.80629675700004 meters 0.06819102036057646 Centerline is valid? [True, True] Translation: X:213.77, Y:-47.44, Z:-25.48 [[ 8.46666373e-01 -5.25528639e-01 8.35206659e-02 2.13769396e+02] [ 5.23091399e-01 8.50775455e-01 5.05619679e-02 -4.74392201e+01] [-9.76290947e-02 8.79824003e-04 9.95222481e-01 -2.54814139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.83629675700004 meters 0.06831199183761393 Centerline is valid? [True, True] Translation: X:213.80, Y:-47.43, Z:-25.48 [[ 8.45073038e-01 -5.28226538e-01 8.26334394e-02 2.13796017e+02] [ 5.25851069e-01 8.49102698e-01 5.00525951e-02 -4.74288587e+01] [-9.66033853e-02 1.15478384e-03 9.95322286e-01 -2.54841598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.86629675700001 meters 0.068677262637841 Centerline is valid? [True, True] Translation: X:213.82, Y:-47.42, Z:-25.49 [[ 8.43860687e-01 -5.30130919e-01 8.28272218e-02 2.13822041e+02] [ 5.27752137e-01 8.47914704e-01 5.01830240e-02 -4.74165724e+01] [-9.68339919e-02 1.36476219e-03 9.95299611e-01 -2.54871490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.89629675700002 meters 0.06862860440351798 Centerline is valid? [True, True] Translation: X:213.85, Y:-47.40, Z:-25.49 [[ 8.43228818e-01 -5.31375198e-01 8.12745900e-02 2.13847657e+02] [ 5.29088286e-01 8.47135334e-01 4.92677519e-02 -4.74031217e+01] [-9.50302384e-02 1.45744524e-03 9.95473319e-01 -2.54908198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92629675700002 meters 0.06845770867219247 Centerline is valid? [True, True] Translation: X:213.87, Y:-47.39, Z:-25.50 [[ 8.43689238e-01 -5.30795595e-01 8.02776794e-02 2.13870482e+02] [ 5.28559457e-01 8.47498795e-01 4.86897666e-02 -4.73898517e+01] [-9.38795502e-02 1.35249457e-03 9.95582644e-01 -2.54954694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95629675700002 meters 0.06808762408041495 Centerline is valid? [True, True] Translation: X:213.89, Y:-47.37, Z:-25.50 [[ 8.43386043e-01 -5.31222972e-01 8.06358213e-02 2.13893330e+02] [ 5.28966938e-01 8.47230914e-01 4.89260380e-02 -4.73737356e+01] [-9.43077958e-02 1.39014590e-03 9.95542117e-01 -2.54978645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98629675700002 meters 0.06775867151128774 Centerline is valid? [True, True] Translation: X:213.92, Y:-47.36, Z:-25.50 [[ 8.44126680e-01 -5.29916327e-01 8.14790457e-02 2.13916979e+02] [ 5.27603486e-01 8.48049041e-01 4.94710600e-02 -4.73586242e+01] [-9.53137490e-02 1.22878687e-03 9.95446523e-01 -2.55013054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01629675700002 meters 0.06736152284108125 Centerline is valid? [True, True] Translation: X:213.94, Y:-47.34, Z:-25.50 [[ 8.43457246e-01 -5.31068990e-01 8.09048920e-02 2.13940856e+02] [ 5.28793301e-01 8.47327519e-01 4.91296387e-02 -4.73419798e+01] [-9.46441689e-02 1.34321511e-03 9.95510260e-01 -2.55029200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04629675700002 meters 0.06730720402341524 Centerline is valid? [True, True] Translation: X:213.96, Y:-47.33, Z:-25.51 [[ 8.43264883e-01 -5.31497775e-01 8.00902748e-02 2.13964632e+02] [ 5.29266985e-01 8.47058608e-01 4.86638783e-02 -4.73269249e+01] [-9.37058997e-02 1.35259868e-03 9.95599003e-01 -2.55068874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07629675700002 meters 0.0675878006306937 Centerline is valid? [True, True] Translation: X:213.99, Y:-47.31, Z:-25.51 [[ 8.42689683e-01 -5.32367847e-01 8.03652513e-02 2.13988706e+02] [ 5.30124801e-01 8.46511891e-01 4.88396681e-02 -4.73144272e+01] [-9.40308098e-02 1.44692836e-03 9.95568236e-01 -2.55120060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10629675700002 meters 0.06715657848385492 Centerline is valid? [True, True] Translation: X:214.01, Y:-47.30, Z:-25.51 [[ 8.42280912e-01 -5.33119204e-01 7.96666784e-02 2.14012459e+02] [ 5.30917096e-01 8.46038798e-01 4.84292125e-02 -4.72980425e+01] [-9.32196441e-02 1.50540025e-03 9.95644430e-01 -2.55136788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.13629675700003 meters 0.06693113527094477 Centerline is valid? [True, True] Translation: X:214.04, Y:-47.28, Z:-25.52 [[ 8.41811350e-01 -5.34024094e-01 7.85615615e-02 2.14036879e+02] [ 5.31884228e-01 8.45467819e-01 4.77842559e-02 -4.72838397e+01] [-9.19392160e-02 1.56032656e-03 9.95763399e-01 -2.55175369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.16629675700003 meters 0.06697359043637292 Centerline is valid? [True, True] Translation: X:214.06, Y:-47.27, Z:-25.52 [[ 8.41718480e-01 -5.34245001e-01 7.80530549e-02 2.14060846e+02] [ 5.32132387e-01 8.45328245e-01 4.74898107e-02 -4.72695709e+01] [-9.13516458e-02 1.56150710e-03 9.95817472e-01 -2.55209935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.19629675700003 meters 0.06687517315340613 Centerline is valid? [True, True] Translation: X:214.08, Y:-47.25, Z:-25.52 [[ 8.41270664e-01 -5.34937909e-01 7.81351651e-02 2.14084369e+02] [ 5.32822647e-01 8.44889806e-01 4.75525257e-02 -4.72546068e+01] [-9.14532531e-02 1.62764055e-03 9.95808040e-01 -2.55227023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.22629675700003 meters 0.06694475670228868 Centerline is valid? [True, True] Translation: X:214.11, Y:-47.24, Z:-25.53 [[ 8.40915270e-01 -5.35489613e-01 7.81817356e-02 2.14107917e+02] [ 5.33373269e-01 8.44540142e-01 4.75910057e-02 -4.72395122e+01] [-9.15121034e-02 1.68004451e-03 9.95802547e-01 -2.55260188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.25629675700003 meters 0.06669578090940839 Centerline is valid? [True, True] Translation: X:214.13, Y:-47.22, Z:-25.53 [[ 8.41234833e-01 -5.34994859e-01 7.81310169e-02 2.14131062e+02] [ 5.32876521e-01 8.44853796e-01 4.75886146e-02 -4.72241467e+01] [-9.14689505e-02 1.60098417e-03 9.95806642e-01 -2.55287053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.28629675700003 meters 0.06628850080134861 Centerline is valid? [True, True] Translation: X:214.15, Y:-47.21, Z:-25.53 [[ 8.41573978e-01 -5.34633446e-01 7.69435979e-02 2.14153346e+02] [ 5.32575139e-01 8.45082709e-01 4.68928218e-02 -4.72089163e+01] [-9.00941751e-02 1.51446879e-03 9.95932099e-01 -2.55321622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.31629675700003 meters 0.06622006557150324 Centerline is valid? [True, True] Translation: X:214.18, Y:-47.19, Z:-25.53 [[ 8.41299653e-01 -5.35041914e-01 7.71041161e-02 2.14176760e+02] [ 5.32974475e-01 8.44824110e-01 4.70152356e-02 -4.71939260e+01] [-9.02945379e-02 1.54062445e-03 9.95913913e-01 -2.55348447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.34629675700003 meters 0.06603615277948525 Centerline is valid? [True, True] Translation: X:214.20, Y:-47.18, Z:-25.54 [[ 8.42271053e-01 -5.33677552e-01 7.59456687e-02 2.14198827e+02] [ 5.31663973e-01 8.45686967e-01 4.63354432e-02 -4.71768115e+01] [-8.89544481e-02 1.35057341e-03 9.96034780e-01 -2.55390008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.37629675700003 meters 0.06599999984277923 Centerline is valid? [True, True] Translation: X:214.22, Y:-47.16, Z:-25.54 [[ 8.42571162e-01 -5.33232474e-01 7.57427604e-02 2.14220833e+02] [ 5.31225435e-01 8.45967788e-01 4.62389416e-02 -4.71620106e+01] [-8.87320407e-02 1.27688211e-03 9.96054715e-01 -2.55426893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.40629675700004 meters 0.06595761699747889 Centerline is valid? [True, True] Translation: X:214.24, Y:-47.15, Z:-25.55 [[ 8.42373034e-01 -5.33595201e-01 7.53911964e-02 2.14244973e+02] [ 5.31606222e-01 8.45739025e-01 4.60470057e-02 -4.71473974e+01] [-8.83317382e-02 1.28967321e-03 9.96090277e-01 -2.55458555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.43629675700004 meters 0.06601407404579228 Centerline is valid? [True, True] Translation: X:214.27, Y:-47.13, Z:-25.55 [[ 8.42056437e-01 -5.34088289e-01 7.54364355e-02 2.14268988e+02] [ 5.32096585e-01 8.45427677e-01 4.61006218e-02 -4.71344364e+01] [-8.83978526e-02 1.32014431e-03 9.96084372e-01 -2.55494486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.46629675700004 meters 0.06593654395183078 Centerline is valid? [True, True] Translation: X:214.29, Y:-47.12, Z:-25.55 [[ 8.41978627e-01 -5.34329308e-01 7.45934484e-02 2.14294310e+02] [ 5.32380861e-01 8.45275383e-01 4.56086131e-02 -4.71203323e+01] [-8.74220243e-02 1.31064685e-03 9.96170503e-01 -2.55522822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.49629675700004 meters 0.06570408671306985 Centerline is valid? [True, True] Translation: X:214.32, Y:-47.10, Z:-25.55 [[ 8.41588456e-01 -5.34962804e-01 7.44558172e-02 2.14319228e+02] [ 5.33022113e-01 8.44874524e-01 4.55463047e-02 -4.71047000e+01] [-8.72714020e-02 1.35535268e-03 9.96183650e-01 -2.55522577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.52629675700004 meters 0.06627757756210317 Centerline is valid? [True, True] Translation: X:214.34, Y:-47.09, Z:-25.56 [[ 8.41354021e-01 -5.35290292e-01 7.47510138e-02 2.14344210e+02] [ 5.33333153e-01 8.44667046e-01 4.57529122e-02 -4.70947125e+01] [-8.76308077e-02 1.37279724e-03 9.96152075e-01 -2.55591379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.55629675700004 meters 0.06530210145621461 Centerline is valid? [True, True] Translation: X:214.37, Y:-47.07, Z:-25.56 [[ 8.43431112e-01 -5.31834465e-01 7.60004051e-02 2.14365407e+02] [ 5.29796022e-01 8.46847722e-01 4.65307593e-02 -4.70739205e+01] [-8.91074314e-02 1.01922223e-03 9.96021499e-01 -2.55574376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.58629675700004 meters 0.0650199810191768 Centerline is valid? [True, True] Translation: X:214.39, Y:-47.06, Z:-25.56 [[ 8.44298252e-01 -5.30399275e-01 7.64007219e-02 2.14389181e+02] [ 5.28330953e-01 8.47747538e-01 4.68029545e-02 -4.70591944e+01] [-8.95927770e-02 8.49213441e-04 9.95978119e-01 -2.55638870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.61629675700001 meters 0.06471996937984766 Centerline is valid? [True, True] Translation: X:214.41, Y:-47.04, Z:-25.56 [[ 8.46581278e-01 -5.26526340e-01 7.79111831e-02 2.14410713e+02] [ 5.24356508e-01 8.50158710e-01 4.77537501e-02 -4.70375650e+01] [-9.13804781e-02 4.25805085e-04 9.95815960e-01 -2.55632606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.64629675700002 meters 0.06467426885119554 Centerline is valid? [True, True] Translation: X:214.43, Y:-47.02, Z:-25.57 [[ 8.47407103e-01 -5.25202669e-01 7.78675674e-02 2.14432550e+02] [ 5.23027553e-01 8.50977137e-01 4.77503028e-02 -4.70208414e+01] [-9.13421061e-02 2.62937407e-04 9.95819537e-01 -2.55663805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67629675700002 meters 0.06467426885119554 Centerline is valid? [True, True] Translation: X:214.46, Y:-47.01, Z:-25.57 [[ 8.47272329e-01 -5.25421227e-01 7.78597115e-02 2.14455910e+02] [ 5.23245855e-01 8.50842207e-01 4.77631086e-02 -4.70063206e+01] [-9.13420799e-02 2.71411001e-04 9.95819537e-01 -2.55693135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70629675700002 meters 0.06490670273676567 Centerline is valid? [True, True] Translation: X:214.48, Y:-46.99, Z:-25.57 [[ 8.48320809e-01 -5.23731063e-01 7.78304489e-02 2.14477845e+02] [ 5.21547709e-01 8.51883659e-01 4.77725659e-02 -4.69888075e+01] [-9.13224644e-02 6.58306047e-05 9.95821371e-01 -2.55711144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73629675700002 meters 0.06488664376548209 Centerline is valid? [True, True] Translation: X:214.50, Y:-46.97, Z:-25.58 [[ 8.48798113e-01 -5.22970023e-01 7.77439284e-02 2.14500057e+02] [ 5.20785511e-01 8.52351074e-01 4.77503684e-02 -4.69733508e+01] [-9.12371321e-02 -4.25111353e-05 9.95829194e-01 -2.55757673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76629675700002 meters 0.0649730492206229 Centerline is valid? [True, True] Translation: X:214.52, Y:-46.96, Z:-25.58 [[ 8.48551793e-01 -5.23347344e-01 7.78935974e-02 2.14523702e+02] [ 5.21154699e-01 8.52119450e-01 4.78562615e-02 -4.69588404e+01] [-9.14200968e-02 -1.39021942e-05 9.95812415e-01 -2.55770299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79629675700002 meters 0.06515063082433095 Centerline is valid? [True, True] Translation: X:214.55, Y:-46.94, Z:-25.58 [[ 8.47967589e-01 -5.24242674e-01 7.82341838e-02 2.14549254e+02] [ 5.22031687e-01 8.51568914e-01 4.80967980e-02 -4.69444737e+01] [-9.18361930e-02 5.61971524e-05 9.95774126e-01 -2.55792355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82629675700002 meters 0.06533880488022101 Centerline is valid? [True, True] Translation: X:214.57, Y:-46.93, Z:-25.58 [[ 8.47760511e-01 -5.24671039e-01 7.76042315e-02 2.14572776e+02] [ 5.22496049e-01 8.51305053e-01 4.77240648e-02 -4.69296592e+01] [-9.11043091e-02 8.93267882e-05 9.95841351e-01 -2.55814792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85629675700002 meters 0.06536172361806583 Centerline is valid? [True, True] Translation: X:214.60, Y:-46.91, Z:-25.59 [[ 8.47448382e-01 -5.25190913e-01 7.74967449e-02 2.14595907e+02] [ 5.23023234e-01 8.50984422e-01 4.76677111e-02 -4.69148448e+01] [-9.09831714e-02 1.36673494e-04 9.95852421e-01 -2.55850656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.88629675700003 meters 0.06574863754428686 Centerline is valid? [True, True] Translation: X:214.62, Y:-46.90, Z:-25.59 [[ 8.47617253e-01 -5.24967658e-01 7.71618423e-02 2.14618307e+02] [ 5.22815107e-01 8.51122171e-01 4.74911968e-02 -4.68998388e+01] [-9.06054971e-02 8.70190885e-05 9.95886859e-01 -2.55894247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.91629675700003 meters 0.06593937751774594 Centerline is valid? [True, True] Translation: X:214.64, Y:-46.88, Z:-25.59 [[ 8.47915586e-01 -5.24524551e-01 7.68970334e-02 2.14641672e+02] [ 5.22383721e-01 8.51395322e-01 4.73418797e-02 -4.68837687e+01] [-9.03017527e-02 2.78407621e-05 9.95914450e-01 -2.55921944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.94629675700003 meters 0.06609051170997782 Centerline is valid? [True, True] Translation: X:214.67, Y:-46.87, Z:-25.60 [[ 8.47866622e-01 -5.24682027e-01 7.63607290e-02 2.14665857e+02] [ 5.22569205e-01 8.51298285e-01 4.70388763e-02 -4.68686018e+01] [-8.96862106e-02 2.10722942e-05 9.95970071e-01 -2.55953601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.97629675700003 meters 0.0660315078050542 Centerline is valid? [True, True] Translation: X:214.69, Y:-46.85, Z:-25.60 [[ 8.47580357e-01 -5.25048964e-01 7.70137922e-02 2.14690235e+02] [ 5.22899120e-01 8.51072021e-01 4.74650009e-02 -4.68532451e+01] [-9.04657333e-02 4.00418101e-05 9.95899568e-01 -2.55983061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.00629675700003 meters 0.06638839793970074 Centerline is valid? [True, True] Translation: X:214.71, Y:-46.84, Z:-25.60 [[ 8.47894576e-01 -5.24550283e-01 7.69531553e-02 2.14712600e+02] [ 5.22399707e-01 8.51379469e-01 4.74504625e-02 -4.68370156e+01] [-9.04064900e-02 -3.26840273e-05 9.95904948e-01 -2.56021639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.03629675700003 meters 0.06673298077948564 Centerline is valid? [True, True] Translation: X:214.74, Y:-46.82, Z:-25.60 [[ 8.48299547e-01 -5.23778602e-01 7.77422337e-02 2.14735339e+02] [ 5.21577816e-01 8.51854422e-01 4.79648306e-02 -4.68209460e+01] [-9.13480175e-02 -1.39919561e-04 9.95819020e-01 -2.56048915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.06629675700003 meters 0.0671046880941312 Centerline is valid? [True, True] Translation: X:214.76, Y:-46.80, Z:-25.61 [[ 8.49109502e-01 -5.22419230e-01 7.80461516e-02 2.14757520e+02] [ 5.20193294e-01 8.52688721e-01 4.81755371e-02 -4.68029492e+01] [-9.17169002e-02 -3.07221666e-04 9.95785075e-01 -2.56065731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.09629675700003 meters 0.0671226864083868 Centerline is valid? [True, True] Translation: X:214.78, Y:-46.79, Z:-25.61 [[ 8.49034342e-01 -5.22484415e-01 7.84265451e-02 2.14781227e+02] [ 5.20234436e-01 8.52648773e-01 4.84375998e-02 -4.67873290e+01] [-9.21781885e-02 -3.24996191e-04 9.95742475e-01 -2.56073887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.12629675700003 meters 0.06758195814218834 Centerline is valid? [True, True] Translation: X:214.80, Y:-46.77, Z:-25.61 [[ 8.49869910e-01 -5.20907386e-01 7.98538124e-02 2.14803184e+02] [ 5.18564770e-01 8.53613035e-01 4.93494289e-02 -4.67694653e+01] [-9.38707371e-02 -5.31220828e-04 9.95584252e-01 -2.56103030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.15629675700004 meters 0.06813717874470239 Centerline is valid? [True, True] Translation: X:214.83, Y:-46.75, Z:-25.61 [[ 8.51390400e-01 -5.18265650e-01 8.08399837e-02 2.14825476e+02] [ 5.15850155e-01 8.55219260e-01 4.99863450e-02 -4.67522828e+01] [-9.50421166e-02 -8.56576116e-04 9.95472884e-01 -2.56135976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.18629675700004 meters 0.06813715032553691 Centerline is valid? [True, True] Translation: X:214.85, Y:-46.74, Z:-25.62 [[ 8.51110116e-01 -5.18841241e-01 8.00957978e-02 2.14848868e+02] [ 5.16471624e-01 8.54870245e-01 4.95371111e-02 -4.67367581e+01] [-9.41734105e-02 -7.94329625e-04 9.95555492e-01 -2.56173498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.21629675700004 meters 0.06885391220572509 Centerline is valid? [True, True] Translation: X:214.87, Y:-46.72, Z:-25.62 [[ 8.51992649e-01 -5.17393427e-01 8.00785120e-02 2.14871066e+02] [ 5.15015685e-01 8.55747091e-01 4.95556345e-02 -4.67202764e+01] [-9.41667132e-02 -9.79346526e-04 9.95555961e-01 -2.56219209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.24629675700004 meters 0.06911589730813504 Centerline is valid? [True, True] Translation: X:214.89, Y:-46.70, Z:-25.63 [[ 8.52296506e-01 -5.16961892e-01 7.96308285e-02 2.14894904e+02] [ 5.14608211e-01 8.56007796e-01 4.92853108e-02 -4.67043602e+01] [-9.36432376e-02 -1.02701996e-03 9.95605288e-01 -2.56264439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.27629675700004 meters 0.06976765948810126 Centerline is valid? [True, True] Translation: X:214.92, Y:-46.69, Z:-25.63 [[ 8.53093654e-01 -5.15694265e-01 7.93135759e-02 2.14917750e+02] [ 5.13351398e-01 8.56771862e-01 4.91153719e-02 -4.66883680e+01] [-9.32821557e-02 -1.18427704e-03 9.95639009e-01 -2.56299339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.30629675700004 meters 0.07013609371195384 Centerline is valid? [True, True] Translation: X:214.94, Y:-46.67, Z:-25.63 [[ 8.53663268e-01 -5.14836972e-01 7.87522467e-02 2.14940537e+02] [ 5.12522849e-01 8.57287154e-01 4.87756521e-02 -4.66731890e+01] [-9.26247985e-02 -1.27565673e-03 9.95700266e-01 -2.56344465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.33629675700004 meters 0.07113530364435437 Centerline is valid? [True, True] Translation: X:214.96, Y:-46.66, Z:-25.64 [[ 8.55102292e-01 -5.12604665e-01 7.76950995e-02 2.14963776e+02] [ 5.10342181e-01 8.58623426e-01 4.81317942e-02 -4.66561271e+01] [-9.13834148e-02 -1.50652095e-03 9.95814642e-01 -2.56398045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.36629675700004 meters 0.07104333303118578 Centerline is valid? [True, True] Translation: X:214.99, Y:-46.64, Z:-25.64 [[ 8.55856475e-01 -5.11411448e-01 7.72529912e-02 2.14989063e+02] [ 5.09167772e-01 8.59334410e-01 4.78806046e-02 -4.66421759e+01] [-9.08728429e-02 -1.64419201e-03 9.95861146e-01 -2.56415706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.39629675700002 meters 0.07289399376858714 Centerline is valid? [True, True] Translation: X:215.01, Y:-46.62, Z:-25.65 [[ 8.57985014e-01 -5.07914009e-01 7.67142400e-02 2.15007515e+02] [ 5.05686334e-01 8.61405425e-01 4.75607447e-02 -4.66211265e+01] [-9.02388310e-02 -2.01306340e-03 9.95918120e-01 -2.56487033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42629675700002 meters 0.07355982234338149 Centerline is valid? [True, True] Translation: X:215.03, Y:-46.60, Z:-25.65 [[ 8.58954377e-01 -5.06233510e-01 7.69740956e-02 2.15030593e+02] [ 5.03982647e-01 8.62393618e-01 4.77361497e-02 -4.66045139e+01] [-9.05476074e-02 -2.20956631e-03 9.95889677e-01 -2.56526444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45629675700002 meters 0.07446868525107862 Centerline is valid? [True, True] Translation: X:215.05, Y:-46.59, Z:-25.66 [[ 8.60016431e-01 -5.04443322e-01 7.68678906e-02 2.15052250e+02] [ 5.02189193e-01 8.63441423e-01 4.76961524e-02 -4.65872932e+01] [-9.04309264e-02 -2.41725083e-03 9.95899796e-01 -2.56578607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48629675700002 meters 0.07462219542108477 Centerline is valid? [True, True] Translation: X:215.08, Y:-46.57, Z:-25.66 [[ 8.61769945e-01 -5.01344697e-01 7.74987485e-02 2.15076939e+02] [ 4.99040192e-01 8.65243211e-01 4.80944185e-02 -4.65732651e+01] [-9.11671477e-02 -2.77133406e-03 9.95831748e-01 -2.56593373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51629675700002 meters 0.07512176983481417 Centerline is valid? [True, True] Translation: X:215.10, Y:-46.56, Z:-25.66 [[ 8.62086885e-01 -5.00805549e-01 7.74596934e-02 2.15101038e+02] [ 4.98499750e-01 8.65555158e-01 4.80860440e-02 -4.65571139e+01] [-9.11273949e-02 -2.84071010e-03 9.95835191e-01 -2.56634136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54629675700002 meters 0.0777433739557647 Centerline is valid? [True, True] Translation: X:215.12, Y:-46.54, Z:-25.67 [[ 8.62746074e-01 -4.99704323e-01 7.72321251e-02 2.15121217e+02] [ 4.97405153e-01 8.66190945e-01 4.79724931e-02 -4.65383288e+01] [-9.08698297e-02 -2.97242306e-03 9.95858343e-01 -2.56699857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57629675700002 meters 0.07832692696606816 Centerline is valid? [True, True] Translation: X:215.15, Y:-46.52, Z:-25.67 [[ 8.63129486e-01 -4.99014225e-01 7.74099111e-02 2.15145826e+02] [ 4.96701067e-01 8.66588399e-01 4.80894716e-02 -4.65231603e+01] [-9.10798613e-02 -3.05785543e-03 9.95838897e-01 -2.56733148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60629675700002 meters 0.07930572967300836 Centerline is valid? [True, True] Translation: X:215.17, Y:-46.51, Z:-25.68 [[ 8.63661320e-01 -4.98247106e-01 7.64129912e-02 2.15169101e+02] [ 4.95988038e-01 8.67029462e-01 4.74950241e-02 -4.65090299e+01] [-8.99165731e-02 -3.11968563e-03 9.95944415e-01 -2.56782983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.63629675700003 meters 0.07978996592298158 Centerline is valid? [True, True] Translation: X:215.19, Y:-46.49, Z:-25.68 [[ 8.64058276e-01 -4.97596749e-01 7.61627945e-02 2.15193201e+02] [ 4.95349493e-01 8.67402648e-01 4.73447488e-02 -4.64939952e+01] [-8.96224028e-02 -3.18142034e-03 9.95970734e-01 -2.56818527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.66629675700003 meters 0.07781116369528894 Centerline is valid? [True, True] Translation: X:215.22, Y:-46.48, Z:-25.68 [[ 8.64179534e-01 -4.97436782e-01 7.58312668e-02 2.15221368e+02] [ 4.95206524e-01 8.67494317e-01 4.71604643e-02 -4.64847757e+01] [-8.92425426e-02 -3.20297008e-03 9.96004774e-01 -2.56833494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.69629675700003 meters 0.07910287297536851 Centerline is valid? [True, True] Translation: X:215.24, Y:-46.47, Z:-25.69 [[ 8.64995956e-01 -4.96027854e-01 7.57519918e-02 2.15243529e+02] [ 4.93794448e-01 8.68300075e-01 4.71383394e-02 -4.64685976e+01] [-8.91573895e-02 -3.36855995e-03 9.96011854e-01 -2.56871066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.72629675700003 meters 0.07955050571708301 Centerline is valid? [True, True] Translation: X:215.27, Y:-46.45, Z:-25.69 [[ 8.65062654e-01 -4.96007254e-01 7.51226261e-02 2.15267631e+02] [ 4.93810334e-01 8.68311926e-01 4.67520361e-02 -4.64527602e+01] [-8.84192212e-02 -3.34711127e-03 9.96077727e-01 -2.56920235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.75629675700003 meters 0.08047192061893371 Centerline is valid? [True, True] Translation: X:215.29, Y:-46.44, Z:-25.70 [[ 8.65290623e-01 -4.95515373e-01 7.57406869e-02 2.15290739e+02] [ 4.93278042e-01 8.68592330e-01 4.71607568e-02 -4.64351077e+01] [-8.91566598e-02 -3.44654287e-03 9.96011652e-01 -2.56971267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.78629675700003 meters 0.08100580817310113 Centerline is valid? [True, True] Translation: X:215.31, Y:-46.42, Z:-25.70 [[ 8.65824579e-01 -4.94585752e-01 7.57148070e-02 2.15314236e+02] [ 4.92344487e-01 8.69121546e-01 4.71661364e-02 -4.64185508e+01] [-8.91330692e-02 -3.55983236e-03 9.96013365e-01 -2.57009815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.81629675700003 meters 0.08107763471295656 Centerline is valid? [True, True] Translation: X:215.34, Y:-46.40, Z:-25.70 [[ 8.65654415e-01 -4.94677181e-01 7.70514192e-02 2.15338123e+02] [ 4.92354022e-01 8.69069199e-01 4.80233696e-02 -4.64030749e+01] [-9.07190803e-02 -3.63506580e-03 9.95869888e-01 -2.57032130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.84629675700003 meters 0.08084135548646659 Centerline is valid? [True, True] Translation: X:215.36, Y:-46.39, Z:-25.71 [[ 8.64945569e-01 -4.95834249e-01 7.75729352e-02 2.15362899e+02] [ 4.93481630e-01 8.68409878e-01 4.83752473e-02 -4.63898799e+01] [-9.13512076e-02 -3.56113726e-03 9.95812369e-01 -2.57062757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.87629675700003 meters 0.08034931192613824 Centerline is valid? [True, True] Translation: X:215.39, Y:-46.38, Z:-25.71 [[ 8.64013044e-01 -4.97373301e-01 7.81105606e-02 2.15387491e+02] [ 4.94993335e-01 8.67529847e-01 4.87192138e-02 -4.63774850e+01] [-9.19948789e-02 -3.42982932e-03 9.95753573e-01 -2.57093218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.90629675700004 meters 0.07932166385552063 Centerline is valid? [True, True] Translation: X:215.41, Y:-46.37, Z:-25.71 [[ 8.62375149e-01 -5.00094829e-01 7.88306065e-02 2.15413615e+02] [ 4.97681199e-01 8.65964822e-01 4.91767276e-02 -4.63676945e+01] [-9.28575593e-02 -3.17627705e-03 9.95674337e-01 -2.57118497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.93629675700004 meters 0.07880215052494224 Centerline is valid? [True, True] Translation: X:215.44, Y:-46.35, Z:-25.71 [[ 8.62038253e-01 -5.00765317e-01 7.82569364e-02 2.15437994e+02] [ 4.98388804e-01 8.65577588e-01 4.88266144e-02 -4.63541614e+01] [-9.21881253e-02 -3.08802845e-03 9.95736819e-01 -2.57144871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.96629675700004 meters 0.07644404312592877 Centerline is valid? [True, True] Translation: X:215.47, Y:-46.35, Z:-25.71 [[ 8.61314248e-01 -5.02085590e-01 7.77677771e-02 2.15466528e+02] [ 4.99741637e-01 8.64812898e-01 4.85484074e-02 -4.63455842e+01] [-9.16300324e-02 -2.95163871e-03 9.95788745e-01 -2.57149121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.99629675700004 meters 0.07671536776716215 Centerline is valid? [True, True] Translation: X:215.49, Y:-46.33, Z:-25.72 [[ 8.61608619e-01 -5.01547749e-01 7.79771938e-02 2.15489862e+02] [ 4.99186297e-01 8.65124617e-01 4.87076783e-02 -4.63298447e+01] [-9.18892163e-02 -3.04180873e-03 9.95764590e-01 -2.57181755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.02629675700004 meters 0.07704030379045598 Centerline is valid? [True, True] Translation: X:215.51, Y:-46.31, Z:-25.72 [[ 8.61929542e-01 -5.01186018e-01 7.67465978e-02 2.15512511e+02] [ 4.98896445e-01 8.65334235e-01 4.79478674e-02 -4.63137775e+01] [-9.04422593e-02 -3.03907859e-03 9.95897064e-01 -2.57223263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.05629675700004 meters 0.07911413499213756 Centerline is valid? [True, True] Translation: X:215.53, Y:-46.29, Z:-25.73 [[ 8.61694017e-01 -5.01624122e-01 7.65288328e-02 2.15531007e+02] [ 4.99348638e-01 8.65080514e-01 4.78188425e-02 -4.62940975e+01] [-9.01906869e-02 -2.99064207e-03 9.95920025e-01 -2.57285513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.08629675700004 meters 0.07583394715251872 Centerline is valid? [True, True] Translation: X:215.56, Y:-46.29, Z:-25.73 [[ 8.60925708e-01 -5.02867766e-01 7.70125717e-02 2.15561218e+02] [ 5.00566647e-01 8.64358509e-01 4.81393745e-02 -4.62875042e+01] [-9.07742113e-02 -2.89450023e-03 9.95867293e-01 -2.57269672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.11629675700004 meters 0.07543751837788847 Centerline is valid? [True, True] Translation: X:215.59, Y:-46.27, Z:-25.73 [[ 8.60272564e-01 -5.04045238e-01 7.66127565e-02 2.15585398e+02] [ 5.01770059e-01 8.63672777e-01 4.79180708e-02 -4.62733554e+01] [-9.03212276e-02 -2.78061428e-03 9.95908803e-01 -2.57287496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.14629675700002 meters 0.07533527065787866 Centerline is valid? [True, True] Translation: X:215.61, Y:-46.26, Z:-25.73 [[ 8.59982689e-01 -5.04588144e-01 7.62927242e-02 2.15607894e+02] [ 5.02333371e-01 8.63355901e-01 4.77260210e-02 -4.62588065e+01] [-8.99497579e-02 -2.71917057e-03 9.95942592e-01 -2.57312327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17629675700002 meters 0.07494232331063168 Centerline is valid? [True, True] Translation: X:215.63, Y:-46.24, Z:-25.74 [[ 8.59523862e-01 -5.05393918e-01 7.61296173e-02 2.15632495e+02] [ 5.03150855e-01 8.62884708e-01 4.76360863e-02 -4.62444979e+01] [-8.97660709e-02 -2.63967075e-03 9.95959379e-01 -2.57350210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20629675700002 meters 0.07449364579996783 Centerline is valid? [True, True] Translation: X:215.66, Y:-46.23, Z:-25.74 [[ 8.58579513e-01 -5.06969602e-01 7.63088599e-02 2.15657321e+02] [ 5.04719855e-01 8.61960300e-01 4.77735143e-02 -4.62305663e+01] [-8.99949273e-02 -2.50276394e-03 9.95939079e-01 -2.57376707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23629675700002 meters 0.07350466892014729 Centerline is valid? [True, True] Translation: X:215.69, Y:-46.22, Z:-25.74 [[ 8.56749594e-01 -5.10114039e-01 7.59196982e-02 2.15685233e+02] [ 5.07897270e-01 8.60104006e-01 4.75548318e-02 -4.62200341e+01] [-8.95572239e-02 -2.18317541e-03 9.95979286e-01 -2.57397244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26629675700002 meters 0.0731183466167193 Centerline is valid? [True, True] Translation: X:215.71, Y:-46.21, Z:-25.74 [[ 8.55751400e-01 -5.11822198e-01 7.56807641e-02 2.15711326e+02] [ 5.09623923e-01 8.59089031e-01 4.74288387e-02 -4.62066552e+01] [-8.92916468e-02 -2.01856721e-03 9.96003478e-01 -2.57425583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29629675700002 meters 0.07233235237252017 Centerline is valid? [True, True] Translation: X:215.74, Y:-46.20, Z:-25.74 [[ 8.53239772e-01 -5.16043496e-01 7.53724197e-02 2.15739557e+02] [ 5.13877209e-01 8.56560898e-01 4.72614259e-02 -4.61966841e+01] [-8.89500190e-02 -1.59315959e-03 9.96034817e-01 -2.57449504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32629675700002 meters 0.0721632973723982 Centerline is valid? [True, True] Translation: X:215.76, Y:-46.18, Z:-25.75 [[ 8.52702310e-01 -5.16962784e-01 7.51548355e-02 2.15763295e+02] [ 5.14810271e-01 8.56006533e-01 4.71508341e-02 -4.61825535e+01] [-8.87082566e-02 -1.51514393e-03 9.96056499e-01 -2.57476926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35629675700002 meters 0.07210276321038764 Centerline is valid? [True, True] Translation: X:215.79, Y:-46.17, Z:-25.75 [[ 8.52324349e-01 -5.17623023e-01 7.48973357e-02 2.15787773e+02] [ 5.15486692e-01 8.55607560e-01 4.70018396e-02 -4.61682798e+01] [-8.84119609e-02 -1.45223246e-03 9.96082936e-01 -2.57513784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.38629675700003 meters 0.07178995895944636 Centerline is valid? [True, True] Translation: X:215.81, Y:-46.15, Z:-25.75 [[ 8.51139129e-01 -5.19571380e-01 7.48850107e-02 2.15812001e+02] [ 5.17440286e-01 8.54426092e-01 4.70276939e-02 -4.61549724e+01] [-8.84179509e-02 -1.27858903e-03 9.96082643e-01 -2.57540415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.41629675700003 meters 0.0717795760047403 Centerline is valid? [True, True] Translation: X:215.83, Y:-46.14, Z:-25.76 [[ 8.50865489e-01 -5.19989716e-01 7.50907127e-02 2.15834572e+02] [ 5.17847768e-01 8.54171613e-01 4.71650810e-02 -4.61405645e+01] [-8.86657122e-02 -1.24558167e-03 9.96060661e-01 -2.57570275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.44629675700003 meters 0.07161758174641868 Centerline is valid? [True, True] Translation: X:215.86, Y:-46.13, Z:-25.76 [[ 8.49844936e-01 -5.21597452e-01 7.54962486e-02 2.15859624e+02] [ 5.19437513e-01 8.53191011e-01 4.74317265e-02 -4.61256569e+01] [-8.91529884e-02 -1.09402891e-03 9.96017343e-01 -2.57601752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.47629675700003 meters 0.07153404087139341 Centerline is valid? [True, True] Translation: X:215.88, Y:-46.11, Z:-25.76 [[ 8.49292244e-01 -5.22360774e-01 7.64323609e-02 2.15884076e+02] [ 5.20147549e-01 8.52723943e-01 4.80458615e-02 -4.61100237e+01] [-9.02729774e-02 -1.04887232e-03 9.95916507e-01 -2.57629898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.50629675700003 meters 0.07111424270206158 Centerline is valid? [True, True] Translation: X:215.91, Y:-46.10, Z:-25.77 [[ 8.47973128e-01 -5.24479498e-01 7.65691205e-02 2.15909603e+02] [ 5.22264599e-01 8.51422656e-01 4.81575555e-02 -4.60954753e+01] [-9.04503345e-02 -8.46971959e-04 9.95900607e-01 -2.57658923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.53629675700003 meters 0.07099247716823064 Centerline is valid? [True, True] Translation: X:215.93, Y:-46.08, Z:-25.77 [[ 8.47519039e-01 -5.25145497e-01 7.70304170e-02 2.15933476e+02] [ 5.22904230e-01 8.51012082e-01 4.84727089e-02 -4.60812949e+01] [-9.10090404e-02 -8.02012756e-04 9.95849743e-01 -2.57683210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.56629675700003 meters 0.07099247716823064 Centerline is valid? [True, True] Translation: X:215.96, Y:-46.07, Z:-25.77 [[ 8.47380072e-01 -5.25370543e-01 7.70247091e-02 2.15956667e+02] [ 5.23129379e-01 8.50873181e-01 4.84817773e-02 -4.60664945e+01] [-9.10091570e-02 -7.88603711e-04 9.95849743e-01 -2.57712576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.59629675700003 meters 0.07082240125154537 Centerline is valid? [True, True] Translation: X:215.98, Y:-46.05, Z:-25.77 [[ 8.46214460e-01 -5.27297088e-01 7.66737836e-02 2.15981786e+02] [ 5.25081655e-01 8.49680774e-01 4.82891146e-02 -4.60532602e+01] [-9.06109493e-02 -6.02949852e-04 9.95886184e-01 -2.57734768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.62629675700003 meters 0.07068771291755069 Centerline is valid? [True, True] Translation: X:216.00, Y:-46.04, Z:-25.78 [[ 8.45569772e-01 -5.28326869e-01 7.66973244e-02 2.16004703e+02] [ 5.26111502e-01 8.49040900e-01 4.83346445e-02 -4.60390748e+01] [-9.06556567e-02 -5.18969784e-04 9.95882163e-01 -2.57771752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.65629675700004 meters 0.07049204826634467 Centerline is valid? [True, True] Translation: X:216.03, Y:-46.03, Z:-25.78 [[ 8.44873125e-01 -5.29480931e-01 7.64156131e-02 2.16028653e+02] [ 5.27284913e-01 8.48321741e-01 4.81751441e-02 -4.60250750e+01] [-9.03328461e-02 -4.09084647e-04 9.95911547e-01 -2.57809536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.68629675700004 meters 0.07035885672985503 Centerline is valid? [True, True] Translation: X:216.05, Y:-46.01, Z:-25.79 [[ 8.44063006e-01 -5.30823186e-01 7.60551556e-02 2.16052077e+02] [ 5.28650591e-01 8.47482543e-01 4.79780328e-02 -4.60112857e+01] [-8.99232689e-02 -2.89879686e-04 9.95948654e-01 -2.57853312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.71629675700004 meters 0.0703666166536849 Centerline is valid? [True, True] Translation: X:216.08, Y:-46.00, Z:-25.79 [[ 8.43028928e-01 -5.32379919e-01 7.66410324e-02 2.16076702e+02] [ 5.30178387e-01 8.46505524e-01 4.83660695e-02 -4.59973101e+01] [-9.06261814e-02 -1.40576851e-04 9.95884971e-01 -2.57878780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.74629675700004 meters 0.07010520422513157 Centerline is valid? [True, True] Translation: X:216.10, Y:-45.98, Z:-25.79 [[ 8.41203717e-01 -5.35135463e-01 7.75006008e-02 2.16102790e+02] [ 5.32893197e-01 8.44766251e-01 4.89369184e-02 -4.59849789e+01] [-9.16577725e-02 1.33625376e-04 9.95790558e-01 -2.57886465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.77629675700004 meters 0.06997800857978691 Centerline is valid? [True, True] Translation: X:216.13, Y:-45.97, Z:-25.79 [[ 8.40207853e-01 -5.36551417e-01 7.85069519e-02 2.16128103e+02] [ 5.34254164e-01 8.43867587e-01 4.95982276e-02 -4.59713602e+01] [-9.28614714e-02 2.69845627e-04 9.95679002e-01 -2.57899135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.80629675700004 meters 0.07007897982602697 Centerline is valid? [True, True] Translation: X:216.15, Y:-45.96, Z:-25.79 [[ 8.38070465e-01 -5.39902966e-01 7.83752709e-02 2.16153453e+02] [ 5.37625504e-01 8.41727038e-01 4.95420110e-02 -4.59597729e+01] [-9.27184633e-02 6.16848348e-04 9.95692174e-01 -2.57919714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.83629675700004 meters 0.07021405283247248 Centerline is valid? [True, True] Translation: X:216.18, Y:-45.95, Z:-25.80 [[ 8.37076613e-01 -5.41467593e-01 7.82022376e-02 2.16177284e+02] [ 5.39205790e-01 8.40721263e-01 4.94456706e-02 -4.59460340e+01] [-9.25195122e-02 7.77284802e-04 9.95710568e-01 -2.57961192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.86629675700004 meters 0.0703920385426514 Centerline is valid? [True, True] Translation: X:216.20, Y:-45.93, Z:-25.80 [[ 8.36050523e-01 -5.43093226e-01 7.79055304e-02 2.16202167e+02] [ 5.40854630e-01 8.39671874e-01 4.92687803e-02 -4.59312287e+01] [-9.21726235e-02 9.44377323e-04 9.95742595e-01 -2.57980248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.89629675700002 meters 0.07065389309554038 Centerline is valid? [True, True] Translation: X:216.23, Y:-45.92, Z:-25.80 [[ 8.34958423e-01 -5.44866301e-01 7.72343526e-02 2.16225540e+02] [ 5.42671436e-01 8.38522203e-01 4.88695022e-02 -4.59175182e+01] [-9.13900644e-02 1.10887457e-03 9.95814554e-01 -2.58023347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92629675700002 meters 0.07073079128429773 Centerline is valid? [True, True] Translation: X:216.25, Y:-45.90, Z:-25.81 [[ 8.34540236e-01 -5.45535958e-01 7.70267111e-02 2.16249742e+02] [ 5.43354388e-01 8.38086606e-01 4.87529591e-02 -4.59022669e+01] [-9.11515471e-02 1.16649547e-03 9.95836349e-01 -2.58051249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95629675700002 meters 0.0707312020092128 Centerline is valid? [True, True] Translation: X:216.27, Y:-45.89, Z:-25.81 [[ 8.33307924e-01 -5.47293205e-01 7.78976979e-02 2.16273943e+02] [ 5.45067027e-01 8.36939856e-01 4.93316632e-02 -4.58854169e+01] [-9.21945722e-02 1.35100075e-03 9.95740094e-01 -2.58064801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98629675700002 meters 0.07064276166691655 Centerline is valid? [True, True] Translation: X:216.30, Y:-45.87, Z:-25.81 [[ 8.32566529e-01 -5.48359665e-01 7.83240199e-02 2.16298956e+02] [ 5.46111298e-01 8.36241328e-01 4.96275184e-02 -4.58702805e+01] [-9.27115118e-02 1.45542147e-03 9.95691949e-01 -2.58092953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01629675700002 meters 0.07035620515072824 Centerline is valid? [True, True] Translation: X:216.32, Y:-45.86, Z:-25.81 [[ 8.32086932e-01 -5.48971332e-01 7.91316274e-02 2.16321671e+02] [ 5.46676558e-01 8.35839802e-01 5.01654006e-02 -4.58555390e+01] [-9.36807305e-02 1.51743139e-03 9.95601134e-01 -2.58111685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04629675700002 meters 0.07049855797791996 Centerline is valid? [True, True] Translation: X:216.34, Y:-45.84, Z:-25.81 [[ 8.31997363e-01 -5.49127952e-01 7.89865851e-02 2.16344573e+02] [ 5.46839841e-01 8.35736927e-01 5.00996686e-02 -4.58409096e+01] [-9.35231343e-02 1.51021951e-03 9.95615961e-01 -2.58148857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07629675700002 meters 0.07004965728590688 Centerline is valid? [True, True] Translation: X:216.37, Y:-45.82, Z:-25.82 [[ 8.32084378e-01 -5.49136282e-01 7.80059683e-02 2.16367787e+02] [ 5.46902224e-01 8.35731527e-01 4.95052740e-02 -4.58244869e+01] [-9.23771891e-02 1.46907236e-03 9.95723002e-01 -2.58162983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10629675700002 meters 0.06985829530112599 Centerline is valid? [True, True] Translation: X:216.39, Y:-45.81, Z:-25.82 [[ 8.33983714e-01 -5.46296218e-01 7.76634180e-02 2.16389419e+02] [ 5.44068433e-01 8.37591274e-01 4.92990584e-02 -4.58061510e+01] [-9.19820904e-02 1.13960226e-03 9.95760009e-01 -2.58214727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.13629675700003 meters 0.06954563521568038 Centerline is valid? [True, True] Translation: X:216.41, Y:-45.79, Z:-25.82 [[ 8.34495139e-01 -5.45601155e-01 7.70535011e-02 2.16411984e+02] [ 5.43403049e-01 8.38044337e-01 4.89368471e-02 -4.57888766e+01] [-9.12742505e-02 1.03354638e-03 9.95825257e-01 -2.58241482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.16629675700003 meters 0.0697771681386542 Centerline is valid? [True, True] Translation: X:216.44, Y:-45.77, Z:-25.83 [[ 8.34588959e-01 -5.45662344e-01 7.55901834e-02 2.16436765e+02] [ 5.43544781e-01 8.38004543e-01 4.80360023e-02 -4.57744829e+01] [-8.95563546e-02 9.96332530e-04 9.95981258e-01 -2.58279387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.19629675700003 meters 0.06985688136569285 Centerline is valid? [True, True] Translation: X:216.46, Y:-45.76, Z:-25.83 [[ 8.33483625e-01 -5.47341924e-01 7.56430153e-02 2.16461264e+02] [ 5.45225880e-01 8.36908289e-01 4.80963157e-02 -4.57618446e+01] [-8.96313965e-02 1.15503799e-03 9.95974336e-01 -2.58313663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.22629675700003 meters 0.0699902474003892 Centerline is valid? [True, True] Translation: X:216.49, Y:-45.75, Z:-25.83 [[ 8.32408430e-01 -5.49085216e-01 7.48440440e-02 2.16488649e+02] [ 5.47019657e-01 8.35765331e-01 4.76004897e-02 -4.57504672e+01] [-8.86887824e-02 1.31811437e-03 9.96058514e-01 -2.58346075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.25629675700003 meters 0.06991472649834804 Centerline is valid? [True, True] Translation: X:216.51, Y:-45.74, Z:-25.84 [[ 8.32437161e-01 -5.49088985e-01 7.44960383e-02 2.16512890e+02] [ 5.47040587e-01 8.35762894e-01 4.74023346e-02 -4.57365158e+01] [-8.82891244e-02 1.29289172e-03 9.96094051e-01 -2.58373211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.28629675700003 meters 0.06944274582834441 Centerline is valid? [True, True] Translation: X:216.54, Y:-45.72, Z:-25.84 [[ 8.34619010e-01 -5.45780006e-01 7.43995468e-02 2.16535080e+02] [ 5.43720967e-01 8.37928009e-01 4.73725879e-02 -4.57190541e+01] [-8.81964755e-02 9.14531127e-04 9.96102678e-01 -2.58389517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.31629675700003 meters 0.06923405235723228 Centerline is valid? [True, True] Translation: X:216.56, Y:-45.70, Z:-25.84 [[ 8.35825942e-01 -5.43933734e-01 7.43712839e-02 2.16557668e+02] [ 5.41868518e-01 8.39127870e-01 4.73595567e-02 -4.57025363e+01] [-8.81674775e-02 7.15111263e-04 9.96105408e-01 -2.58425948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.34629675700003 meters 0.06875151763975648 Centerline is valid? [True, True] Translation: X:216.58, Y:-45.68, Z:-25.85 [[ 8.38811276e-01 -5.39365152e-01 7.40329353e-02 2.16577819e+02] [ 5.37298615e-01 8.42071961e-01 4.71700158e-02 -4.56830602e+01] [-8.77829218e-02 2.11052430e-04 9.96139606e-01 -2.58478552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.37629675700003 meters 0.06877782242930776 Centerline is valid? [True, True] Translation: X:216.60, Y:-45.66, Z:-25.85 [[ 8.40107704e-01 -5.37298312e-01 7.43610713e-02 2.16599547e+02] [ 5.35202967e-01 8.43392271e-01 4.74052887e-02 -4.56647494e+01] [-8.81863344e-02 -2.72823317e-05 9.96103995e-01 -2.58515631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.40629675700004 meters 0.0688462109159982 Centerline is valid? [True, True] Translation: X:216.62, Y:-45.65, Z:-25.85 [[ 8.41349609e-01 -5.35352354e-01 7.43551831e-02 2.16620807e+02] [ 5.33247383e-01 8.44628790e-01 4.74282180e-02 -4.56466171e+01] [-8.81933365e-02 -2.54005846e-04 9.96103343e-01 -2.58546479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.43629675700004 meters 0.06871268531794467 Centerline is valid? [True, True] Translation: X:216.64, Y:-45.63, Z:-25.86 [[ 8.40874034e-01 -5.36013008e-01 7.49727529e-02 2.16643571e+02] [ 5.33872930e-01 8.44209696e-01 4.78506491e-02 -4.56320365e+01] [-8.89412953e-02 -2.10445132e-04 9.96036848e-01 -2.58585903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.46629675700004 meters 0.06874210407932728 Centerline is valid? [True, True] Translation: X:216.67, Y:-45.62, Z:-25.86 [[ 8.40684396e-01 -5.36370374e-01 7.45423963e-02 2.16667897e+02] [ 5.34254398e-01 8.43982693e-01 4.75967642e-02 -4.56170192e+01] [-8.84419866e-02 -1.89253912e-04 9.96081312e-01 -2.58605648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.49629675700004 meters 0.06869655273535945 Centerline is valid? [True, True] Translation: X:216.69, Y:-45.60, Z:-25.86 [[ 8.40299516e-01 -5.36887179e-01 7.51590321e-02 2.16693071e+02] [ 5.34735596e-01 8.43654036e-01 4.80178121e-02 -4.56018397e+01] [-8.91883684e-02 -1.59134424e-04 9.96014764e-01 -2.58603734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.52629675700004 meters 0.06866784473351986 Centerline is valid? [True, True] Translation: X:216.72, Y:-45.59, Z:-25.86 [[ 8.39532483e-01 -5.37952040e-01 7.61105235e-02 2.16717823e+02] [ 5.35747557e-01 8.42975443e-01 4.86513901e-02 -4.55862041e+01] [-9.03314169e-02 -6.83953181e-05 9.95911758e-01 -2.58622039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.55629675700004 meters 0.06879904544600825 Centerline is valid? [True, True] Translation: X:216.74, Y:-45.57, Z:-25.87 [[ 8.38832407e-01 -5.38946491e-01 7.67911011e-02 2.16741347e+02] [ 5.36703940e-01 8.42340002e-01 4.91141670e-02 -4.55719471e+01] [-9.11541242e-02 1.55316513e-05 9.95836797e-01 -2.58651476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.58629675700004 meters 0.06877593542168191 Centerline is valid? [True, True] Translation: X:216.77, Y:-45.56, Z:-25.87 [[ 8.38153324e-01 -5.40033558e-01 7.65686803e-02 2.16765573e+02] [ 5.37807375e-01 8.41643477e-01 4.89845442e-02 -4.55574821e+01] [-9.08968280e-02 1.22642433e-04 9.95860307e-01 -2.58674043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.61629675700004 meters 0.06882133185483268 Centerline is valid? [True, True] Translation: X:216.79, Y:-45.54, Z:-25.87 [[ 8.36754910e-01 -5.42153529e-01 7.68815420e-02 2.16789098e+02] [ 5.39915191e-01 8.40279384e-01 4.92152705e-02 -4.55443281e+01] [-9.12842074e-02 3.28393172e-04 9.95824827e-01 -2.58698768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.64629675700002 meters 0.06897323548310542 Centerline is valid? [True, True] Translation: X:216.81, Y:-45.53, Z:-25.87 [[ 8.36003722e-01 -5.43303844e-01 7.69331467e-02 2.16812847e+02] [ 5.41065688e-01 8.39536027e-01 4.92664310e-02 -4.55299536e+01] [-9.13547896e-02 4.38966256e-04 9.95818312e-01 -2.58730984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67629675700002 meters 0.06903086790519371 Centerline is valid? [True, True] Translation: X:216.84, Y:-45.52, Z:-25.88 [[ 8.35223726e-01 -5.44538158e-01 7.66780366e-02 2.16838029e+02] [ 5.42317466e-01 8.38735890e-01 4.91311738e-02 -4.55152986e+01] [-9.10664202e-02 5.48316478e-04 9.95844670e-01 -2.58768384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70629675700002 meters 0.06943618453848921 Centerline is valid? [True, True] Translation: X:216.86, Y:-45.50, Z:-25.88 [[ 8.34225733e-01 -5.46119088e-01 7.62978955e-02 2.16862484e+02] [ 5.43924823e-01 8.37707261e-01 4.89114607e-02 -4.54992952e+01] [-9.06267834e-02 6.97120205e-04 9.95884682e-01 -2.58781461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73629675700002 meters 0.06976983768256484 Centerline is valid? [True, True] Translation: X:216.89, Y:-45.48, Z:-25.88 [[ 8.34550045e-01 -5.45668192e-01 7.59766181e-02 2.16885269e+02] [ 5.43488125e-01 8.38001095e-01 4.87321495e-02 -4.54847468e+01] [-9.02600731e-02 6.22972177e-04 9.95918034e-01 -2.58837440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76629675700002 meters 0.06992004692139743 Centerline is valid? [True, True] Translation: X:216.91, Y:-45.47, Z:-25.88 [[ 8.33263750e-01 -5.47531101e-01 7.66890904e-02 2.16908066e+02] [ 5.45316449e-01 8.36784931e-01 4.92031507e-02 -4.54686179e+01] [-9.11125304e-02 8.20620571e-04 9.95840265e-01 -2.58843690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79629675700002 meters 0.07019029660519996 Centerline is valid? [True, True] Translation: X:216.93, Y:-45.45, Z:-25.89 [[ 8.33196779e-01 -5.47678218e-01 7.63655462e-02 2.16930257e+02] [ 5.45480104e-01 8.36688662e-01 4.90259050e-02 -4.54538333e+01] [-9.07446069e-02 8.07659948e-04 9.95873870e-01 -2.58883421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82629675700002 meters 0.07038007106210331 Centerline is valid? [True, True] Translation: X:216.95, Y:-45.44, Z:-25.89 [[ 8.33000862e-01 -5.47980057e-01 7.63375487e-02 2.16953189e+02] [ 5.45783532e-01 8.36490987e-01 4.90220907e-02 -4.54385136e+01] [-9.07187995e-02 8.28333189e-04 9.95876204e-01 -2.58906713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85629675700002 meters 0.0706521228943462 Centerline is valid? [True, True] Translation: X:216.98, Y:-45.42, Z:-25.89 [[ 8.32566371e-01 -5.48657424e-01 7.62119974e-02 2.16977290e+02] [ 5.46468419e-01 8.36046806e-01 4.89694365e-02 -4.54219890e+01] [-9.05842418e-02 8.77143693e-04 9.95888410e-01 -2.58935062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.88629675700003 meters 0.07086363301212982 Centerline is valid? [True, True] Translation: X:217.00, Y:-45.41, Z:-25.90 [[ 8.31892797e-01 -5.49574917e-01 7.69531368e-02 2.17000699e+02] [ 5.47344750e-01 8.35443880e-01 4.94696753e-02 -4.54068233e+01] [-9.14773199e-02 9.66428846e-04 9.95806691e-01 -2.58969713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.91629675700003 meters 0.07112049505783372 Centerline is valid? [True, True] Translation: X:217.02, Y:-45.39, Z:-25.90 [[ 8.31295989e-01 -5.50379117e-01 7.76518315e-02 2.17024329e+02] [ 5.48109077e-01 8.34914214e-01 4.99469245e-02 -4.53907195e+01] [-9.23223620e-02 1.04099571e-03 9.95728627e-01 -2.58984670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.94629675700003 meters 0.0713342927703651 Centerline is valid? [True, True] Translation: X:217.05, Y:-45.38, Z:-25.90 [[ 8.31422251e-01 -5.50142589e-01 7.79754623e-02 2.17047114e+02] [ 5.47849626e-01 8.35070144e-01 5.01860761e-02 -4.53759645e+01] [-9.27244784e-02 9.93007509e-04 9.95691310e-01 -2.59016786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.97629675700003 meters 0.07161946437422302 Centerline is valid? [True, True] Translation: X:217.07, Y:-45.36, Z:-25.90 [[ 8.32002695e-01 -5.49333606e-01 7.74861599e-02 2.17068618e+02] [ 5.47064719e-01 8.35602659e-01 4.98837637e-02 -4.53601254e+01] [-9.21504690e-02 8.86518450e-04 9.95744699e-01 -2.59047772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.00629675700003 meters 0.07172680875406318 Centerline is valid? [True, True] Translation: X:217.09, Y:-45.34, Z:-25.91 [[ 8.32358225e-01 -5.48827866e-01 7.72512785e-02 2.17091419e+02] [ 5.46569402e-01 8.35934989e-01 4.97451827e-02 -4.53430831e+01] [-9.18785890e-02 8.17373142e-04 9.95769881e-01 -2.59073939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.03629675700003 meters 0.07194584761812614 Centerline is valid? [True, True] Translation: X:217.11, Y:-45.32, Z:-25.91 [[ 8.33823587e-01 -5.46434962e-01 7.84031840e-02 2.17113044e+02] [ 5.44095214e-01 8.37501369e-01 5.05158781e-02 -4.53246098e+01] [-9.32664159e-02 5.37466536e-04 9.95641043e-01 -2.59116630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.06629675700003 meters 0.071992730143525 Centerline is valid? [True, True] Translation: X:217.14, Y:-45.31, Z:-25.91 [[ 8.34599517e-01 -5.45297764e-01 7.80640416e-02 2.17135143e+02] [ 5.42971107e-01 8.38242326e-01 5.03207697e-02 -4.53072873e+01] [-9.28763870e-02 3.88829025e-04 9.95677571e-01 -2.59135997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.09629675700003 meters 0.07207956450542799 Centerline is valid? [True, True] Translation: X:217.16, Y:-45.29, Z:-25.92 [[ 8.35750353e-01 -5.43619444e-01 7.74548070e-02 2.17156330e+02] [ 5.41319009e-01 8.39331799e-01 4.99585878e-02 -4.52913042e+01] [-9.21687423e-02 1.74851977e-04 9.95743387e-01 -2.59186536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.12629675700003 meters 0.07219762422525476 Centerline is valid? [True, True] Translation: X:217.18, Y:-45.27, Z:-25.92 [[ 8.37457330e-01 -5.41050688e-01 7.70024295e-02 2.17178644e+02] [ 5.38764856e-01 8.40989976e-01 4.96818944e-02 -4.52731582e+01] [-9.16386945e-02 -1.20263721e-04 9.95792315e-01 -2.59217573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.15629675700004 meters 0.07247289623354701 Centerline is valid? [True, True] Translation: X:217.20, Y:-45.26, Z:-25.93 [[ 8.38514382e-01 -5.39422057e-01 7.69251352e-02 2.17200055e+02] [ 5.37131761e-01 8.42035476e-01 4.96560935e-02 -4.52565788e+01] [-9.15592849e-02 -3.18415192e-04 9.95799576e-01 -2.59262101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.18629675700004 meters 0.07263483623093493 Centerline is valid? [True, True] Translation: X:217.22, Y:-45.24, Z:-25.93 [[ 8.40667434e-01 -5.36224851e-01 7.57705443e-02 2.17222403e+02] [ 5.33988383e-01 8.44074913e-01 4.89279931e-02 -4.52388032e+01] [-9.01924213e-02 -6.71580008e-04 9.95924132e-01 -2.59279101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.21629675700004 meters 0.07272615231600411 Centerline is valid? [True, True] Translation: X:217.25, Y:-45.22, Z:-25.93 [[ 8.41744058e-01 -5.34572753e-01 7.54911468e-02 2.17245609e+02] [ 5.32345611e-01 8.45122032e-01 4.87534753e-02 -4.52214693e+01] [-8.98615109e-02 -8.50567368e-04 9.95953907e-01 -2.59326807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.24629675700004 meters 0.07312957466600452 Centerline is valid? [True, True] Translation: X:217.27, Y:-45.20, Z:-25.94 [[ 8.43760933e-01 -5.31449501e-01 7.50260977e-02 2.17267137e+02] [ 5.29234956e-01 8.47089127e-01 4.84806438e-02 -4.52032754e+01] [-8.93188056e-02 -1.19963970e-03 9.96002365e-01 -2.59376589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.27629675700004 meters 0.0734863225057508 Centerline is valid? [True, True] Translation: X:217.29, Y:-45.19, Z:-25.94 [[ 8.44786835e-01 -5.29955835e-01 7.40406356e-02 2.17289736e+02] [ 5.27793001e-01 8.48024178e-01 4.78491552e-02 -4.51858312e+01] [-8.81461881e-02 -1.34420705e-03 9.96106642e-01 -2.59416203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.30629675700004 meters 0.0739022962199254 Centerline is valid? [True, True] Translation: X:217.31, Y:-45.17, Z:-25.94 [[ 8.46089593e-01 -5.27837901e-01 7.42936847e-02 2.17311244e+02] [ 5.25649628e-01 8.49343635e-01 4.80401790e-02 -4.51687657e+01] [-8.84582955e-02 -1.59384777e-03 9.96078606e-01 -2.59445291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.33629675700004 meters 0.07392670630374476 Centerline is valid? [True, True] Translation: X:217.34, Y:-45.15, Z:-25.95 [[ 8.46280735e-01 -5.27582443e-01 7.39302611e-02 2.17335263e+02] [ 5.25414127e-01 8.49502296e-01 4.78104994e-02 -4.51531218e+01] [-8.80279066e-02 -1.61710096e-03 9.96116696e-01 -2.59474551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.36629675700004 meters 0.07390765760679682 Centerline is valid? [True, True] Translation: X:217.36, Y:-45.14, Z:-25.95 [[ 8.45050599e-01 -5.29644467e-01 7.32545190e-02 2.17361305e+02] [ 5.27521063e-01 8.48218571e-01 4.74002511e-02 -4.51418445e+01] [-8.72411242e-02 -1.41230880e-03 9.96186223e-01 -2.59500189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.39629675700002 meters 0.07351408901684899 Centerline is valid? [True, True] Translation: X:217.39, Y:-45.13, Z:-25.95 [[ 8.43495554e-01 -5.32017535e-01 7.39769797e-02 2.17386489e+02] [ 5.29860566e-01 8.46732509e-01 4.78731452e-02 -4.51298981e+01] [-8.81080663e-02 -1.18330081e-03 9.96110219e-01 -2.59547836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42629675700002 meters 0.07327885376124417 Centerline is valid? [True, True] Translation: X:217.41, Y:-45.12, Z:-25.96 [[ 8.42095774e-01 -5.34174722e-01 7.43779208e-02 2.17413062e+02] [ 5.32000513e-01 8.45373527e-01 4.81565593e-02 -4.51180456e+01] [-8.86011419e-02 -9.83343012e-04 9.96066700e-01 -2.59568887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45629675700002 meters 0.07304087256381739 Centerline is valid? [True, True] Translation: X:217.44, Y:-45.11, Z:-25.96 [[ 8.41341696e-01 -5.35236822e-01 7.52708071e-02 2.17439613e+02] [ 5.33012035e-01 8.44701562e-01 4.87590153e-02 -4.51057850e+01] [-8.96789888e-02 -9.02746612e-04 9.95970313e-01 -2.59577910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48629675700002 meters 0.07304087256381739 Centerline is valid? [True, True] Translation: X:217.46, Y:-45.09, Z:-25.96 [[ 8.41196896e-01 -5.35465943e-01 7.52595856e-02 2.17462624e+02] [ 5.33240522e-01 8.44556342e-01 4.87763289e-02 -4.50906970e+01] [-8.96790233e-02 -8.99035726e-04 9.95970313e-01 -2.59607210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51629675700002 meters 0.07300685563575325 Centerline is valid? [True, True] Translation: X:217.49, Y:-45.08, Z:-25.96 [[ 8.41036595e-01 -5.35747318e-01 7.50483604e-02 2.17485772e+02] [ 5.33532705e-01 8.44377886e-01 4.86707263e-02 -4.50772007e+01] [-8.94443869e-02 -8.93107244e-04 9.95991418e-01 -2.59635456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54629675700002 meters 0.0729851221786668 Centerline is valid? [True, True] Translation: X:217.51, Y:-45.06, Z:-25.97 [[ 8.40457185e-01 -5.36634117e-01 7.52033538e-02 2.17510709e+02] [ 5.34412544e-01 8.43814650e-01 4.87859514e-02 -4.50620022e+01] [-8.96378977e-02 -8.12887769e-04 9.95974089e-01 -2.59673478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57629675700002 meters 0.07277184177849186 Centerline is valid? [True, True] Translation: X:217.54, Y:-45.05, Z:-25.97 [[ 8.39537825e-01 -5.37882457e-01 7.65421659e-02 2.17535255e+02] [ 5.35583730e-01 8.43019545e-01 4.96801273e-02 -4.50473162e+01] [-9.12486108e-02 -7.13607258e-04 9.95827888e-01 -2.59708209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60629675700002 meters 0.07276891446693168 Centerline is valid? [True, True] Translation: X:217.56, Y:-45.03, Z:-25.97 [[ 8.38356089e-01 -5.39632121e-01 7.71766989e-02 2.17560178e+02] [ 5.37300070e-01 8.41900750e-01 5.01174869e-02 -4.50326849e+01] [-9.20201265e-02 -5.49254560e-04 9.95756996e-01 -2.59732839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.63629675700003 meters 0.07266559845597079 Centerline is valid? [True, True] Translation: X:217.58, Y:-45.02, Z:-25.98 [[ 8.38048940e-01 -5.39962205e-01 7.81971386e-02 2.17583888e+02] [ 5.37566905e-01 8.41689090e-01 5.08064819e-02 -4.50173764e+01] [-9.32512584e-02 -5.42124471e-04 9.95642460e-01 -2.59771883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.66629675700003 meters 0.07255340804810202 Centerline is valid? [True, True] Translation: X:217.61, Y:-45.00, Z:-25.98 [[ 8.36827972e-01 -5.41789401e-01 7.86332658e-02 2.17607168e+02] [ 5.39372848e-01 8.40514196e-01 5.11157150e-02 -4.50025268e+01] [-9.37863288e-02 -3.62411598e-04 9.95592283e-01 -2.59803284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.69629675700003 meters 0.07259482937736435 Centerline is valid? [True, True] Translation: X:217.63, Y:-44.99, Z:-25.98 [[ 8.35478045e-01 -5.43696826e-01 7.98135153e-02 2.17630726e+02] [ 5.41214949e-01 8.39281679e-01 5.18906797e-02 -4.49879892e+01] [-9.51988190e-02 -1.57256065e-04 9.95458266e-01 -2.59825737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.72629675700003 meters 0.07257613152089605 Centerline is valid? [True, True] Translation: X:217.66, Y:-44.97, Z:-25.98 [[ 8.34056668e-01 -5.45893495e-01 7.96854260e-02 2.17655062e+02] [ 5.43427562e-01 8.37854574e-01 5.18285497e-02 -4.49734462e+01] [-9.50576668e-02 7.53093091e-05 9.95471765e-01 -2.59842490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.75629675700003 meters 0.0727185656208194 Centerline is valid? [True, True] Translation: X:217.68, Y:-44.96, Z:-25.99 [[ 8.33646120e-01 -5.46635176e-01 7.88931654e-02 2.17678857e+02] [ 5.44218408e-01 8.37370866e-01 5.13454678e-02 -4.49589803e+01] [-9.41300770e-02 1.31162824e-04 9.95559898e-01 -2.59892089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.78629675700003 meters 0.07256849906784489 Centerline is valid? [True, True] Translation: X:217.70, Y:-44.94, Z:-25.99 [[ 8.32269463e-01 -5.48736551e-01 7.88399529e-02 2.17702692e+02] [ 5.46331374e-01 8.35995257e-01 5.13221264e-02 -4.49448493e+01] [-9.40721533e-02 3.58901149e-04 9.95565317e-01 -2.59923627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.81629675700003 meters 0.07256921872926898 Centerline is valid? [True, True] Translation: X:217.73, Y:-44.93, Z:-26.00 [[ 8.30973033e-01 -5.50928038e-01 7.72147269e-02 2.17726535e+02] [ 5.48628083e-01 8.34552557e-01 5.02917107e-02 -4.49294169e+01] [-9.21468613e-02 5.71112246e-04 9.95745264e-01 -2.59958694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.84629675700003 meters 0.072496190039295 Centerline is valid? [True, True] Translation: X:217.75, Y:-44.92, Z:-26.00 [[ 8.29205668e-01 -5.53601337e-01 7.70942266e-02 2.17749994e+02] [ 5.51317470e-01 8.32781393e-01 5.02414028e-02 -4.49154726e+01] [-9.20163452e-02 8.42938052e-04 9.95757140e-01 -2.59999234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.87629675700003 meters 0.07258866135037875 Centerline is valid? [True, True] Translation: X:217.77, Y:-44.90, Z:-26.00 [[ 8.28041615e-01 -5.55274508e-01 7.75712882e-02 2.17774644e+02] [ 5.52968915e-01 8.31666496e-01 5.05590622e-02 -4.49010166e+01] [-9.25875999e-02 1.02950355e-03 9.95704010e-01 -2.60026731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.90629675700004 meters 0.0727182399264373 Centerline is valid? [True, True] Translation: X:217.80, Y:-44.89, Z:-26.01 [[ 8.26667238e-01 -5.57408729e-01 7.69206570e-02 2.17798953e+02] [ 5.55148477e-01 8.30237305e-01 5.01616010e-02 -4.48877860e+01] [-9.18229132e-02 1.23543337e-03 9.95774586e-01 -2.60066791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.93629675700004 meters 0.07358105319183941 Centerline is valid? [True, True] Translation: X:217.83, Y:-44.88, Z:-26.01 [[ 8.21829489e-01 -5.64490794e-01 7.71131257e-02 2.17825954e+02] [ 5.62248689e-01 8.25436900e-01 5.03024417e-02 -4.48796849e+01] [-9.20472847e-02 2.01672384e-03 9.95752595e-01 -2.60093566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.96629675700004 meters 0.07386481108084167 Centerline is valid? [True, True] Translation: X:217.85, Y:-44.87, Z:-26.01 [[ 8.19031337e-01 -5.68517041e-01 7.73048727e-02 2.17851839e+02] [ 5.66280759e-01 8.22667786e-01 5.04362552e-02 -4.48669145e+01] [-9.22700991e-02 2.46738842e-03 9.95730958e-01 -2.60113941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.99629675700004 meters 0.07512925303542811 Centerline is valid? [True, True] Translation: X:217.88, Y:-44.86, Z:-26.01 [[ 8.13344258e-01 -5.76588469e-01 7.75683898e-02 2.17882564e+02] [ 5.74371159e-01 8.17027759e-01 5.06301612e-02 -4.48609494e+01] [-9.25682948e-02 3.37329504e-03 9.95700624e-01 -2.60136148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.02629675700004 meters 0.07536388503494662 Centerline is valid? [True, True] Translation: X:217.91, Y:-44.85, Z:-26.01 [[ 8.12335406e-01 -5.78095467e-01 7.69208616e-02 2.17907568e+02] [ 5.75919383e-01 8.15961658e-01 5.02338250e-02 -4.48479109e+01] [-9.18044202e-02 3.49350050e-03 9.95770929e-01 -2.60148737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.05629675700004 meters 0.07539668893039633 Centerline is valid? [True, True] Translation: X:217.93, Y:-44.83, Z:-26.02 [[ 8.11813535e-01 -5.78737660e-01 7.75983543e-02 2.17931383e+02] [ 5.76523771e-01 8.15505924e-01 5.06993916e-02 -4.48331670e+01] [-9.26235649e-02 3.57884355e-03 9.95694766e-01 -2.60174082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.08629675700004 meters 0.07558662326855072 Centerline is valid? [True, True] Translation: X:217.96, Y:-44.82, Z:-26.02 [[ 8.10894209e-01 -5.80013308e-01 7.76861841e-02 2.17955862e+02] [ 5.77797477e-01 8.14598575e-01 5.07861987e-02 -4.48195807e+01] [-9.27397259e-02 3.70464670e-03 9.95683493e-01 -2.60203476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.11629675700004 meters 0.07527552360778478 Centerline is valid? [True, True] Translation: X:217.98, Y:-44.80, Z:-26.02 [[ 8.10916809e-01 -5.80043818e-01 7.72210984e-02 2.17978585e+02] [ 5.77853054e-01 8.14576998e-01 5.04991316e-02 -4.48040986e+01] [-9.21942397e-02 3.67185281e-03 9.95734272e-01 -2.60236905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.14629675700002 meters 0.07532413357338177 Centerline is valid? [True, True] Translation: X:218.00, Y:-44.79, Z:-26.03 [[ 8.12031865e-01 -5.78514605e-01 7.69746862e-02 2.18001374e+02] [ 5.76328113e-01 8.15664680e-01 5.03689933e-02 -4.47891572e+01] [-9.19247310e-02 3.46144808e-03 9.95759942e-01 -2.60280862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17629675700002 meters 0.07468987267045375 Centerline is valid? [True, True] Translation: X:218.02, Y:-44.77, Z:-26.03 [[ 8.12935031e-01 -5.77194677e-01 7.73494732e-02 2.18023104e+02] [ 5.74980156e-01 8.16599821e-01 5.06216642e-02 -4.47704168e+01] [-9.23821210e-02 3.32228805e-03 9.95718086e-01 -2.60309886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20629675700002 meters 0.07407140795032337 Centerline is valid? [True, True] Translation: X:218.04, Y:-44.75, Z:-26.04 [[ 8.15007181e-01 -5.74348743e-01 7.67255890e-02 2.18043918e+02] [ 5.72154696e-01 8.18605404e-01 5.02413821e-02 -4.47524924e+01] [-9.16640565e-02 2.95181885e-03 9.95785613e-01 -2.60352268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23629675700002 meters 0.07385744669223784 Centerline is valid? [True, True] Translation: X:218.07, Y:-44.73, Z:-26.04 [[ 8.16010712e-01 -5.73009738e-01 7.60681187e-02 2.18066776e+02] [ 5.70846646e-01 8.19543876e-01 4.98190873e-02 -4.47347851e+01] [-9.08879830e-02 2.77032149e-03 9.95857269e-01 -2.60389815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26629675700002 meters 0.07388776896229907 Centerline is valid? [True, True] Translation: X:218.09, Y:-44.72, Z:-26.04 [[ 8.17205829e-01 -5.71333467e-01 7.58465807e-02 2.18089566e+02] [ 5.69173348e-01 8.20714046e-01 4.97006406e-02 -4.47192795e+01] [-9.06439934e-02 2.55419909e-03 9.95880084e-01 -2.60429202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29629675700002 meters 0.07306396772787936 Centerline is valid? [True, True] Translation: X:218.11, Y:-44.70, Z:-26.05 [[ 8.19231183e-01 -5.68534951e-01 7.50218542e-02 2.18110616e+02] [ 5.66409415e-01 8.22656127e-01 4.91657522e-02 -4.46991953e+01] [-8.96696365e-02 2.21496721e-03 9.95969101e-01 -2.60465078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32629675700002 meters 0.07275690869187501 Centerline is valid? [True, True] Translation: X:218.13, Y:-44.68, Z:-26.05 [[ 8.20066007e-01 -5.67323402e-01 7.50726351e-02 2.18133003e+02] [ 5.65187796e-01 8.23492499e-01 4.92225594e-02 -4.46812198e+01] [-8.97468617e-02 2.06438941e-03 9.95962469e-01 -2.60501455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35629675700002 meters 0.07216014011364426 Centerline is valid? [True, True] Translation: X:218.16, Y:-44.66, Z:-26.05 [[ 8.19268972e-01 -5.68423957e-01 7.54490279e-02 2.18156495e+02] [ 5.66269375e-01 8.22732926e-01 4.94927002e-02 -4.46638273e+01] [-9.02072359e-02 2.17664029e-03 9.95920638e-01 -2.60519549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.38629675700003 meters 0.0728542685503771 Centerline is valid? [True, True] Translation: X:218.18, Y:-44.65, Z:-26.06 [[ 8.18103735e-01 -5.70113162e-01 7.53475987e-02 2.18182277e+02] [ 5.67969182e-01 8.21562849e-01 4.94519301e-02 -4.46527230e+01] [-9.00959840e-02 2.33830528e-03 9.95930342e-01 -2.60568474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.41629675700003 meters 0.07242738662249981 Centerline is valid? [True, True] Translation: X:218.21, Y:-44.64, Z:-26.06 [[ 8.16605660e-01 -5.72226260e-01 7.55797820e-02 2.18206443e+02] [ 5.70076556e-01 8.20091778e-01 4.96205260e-02 -4.46362632e+01] [-9.03765258e-02 2.56585942e-03 9.95904363e-01 -2.60576682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.44629675700003 meters 0.07283080018220264 Centerline is valid? [True, True] Translation: X:218.23, Y:-44.63, Z:-26.06 [[ 8.13409382e-01 -5.76682787e-01 7.61717870e-02 2.18233642e+02] [ 5.74516350e-01 8.16962408e-01 5.00338706e-02 -4.46250657e+01] [-9.10831584e-02 3.06391723e-03 9.95838577e-01 -2.60587440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.47629675700003 meters 0.0742914856986676 Centerline is valid? [True, True] Translation: X:218.26, Y:-44.62, Z:-26.06 [[ 8.10637721e-01 -5.80609846e-01 7.58860476e-02 2.18261761e+02] [ 5.78474324e-01 8.14174533e-01 4.98727048e-02 -4.46168051e+01] [-9.07410708e-02 3.46943429e-03 9.95868476e-01 -2.60612948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.50629675700003 meters 0.07419443939786118 Centerline is valid? [True, True] Translation: X:218.29, Y:-44.60, Z:-26.06 [[ 8.09113920e-01 -5.82723218e-01 7.59494222e-02 2.18286428e+02] [ 5.80590905e-01 8.12662325e-01 4.99414297e-02 -4.46016816e+01] [-9.08232648e-02 3.68723775e-03 9.95860200e-01 -2.60637496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.53629675700003 meters 0.07447051426221887 Centerline is valid? [True, True] Translation: X:218.31, Y:-44.59, Z:-26.07 [[ 8.08196776e-01 -5.83988307e-01 7.59975494e-02 2.18311606e+02] [ 5.81856606e-01 8.11753120e-01 4.99976227e-02 -4.45867933e+01] [-9.08892749e-02 3.81175865e-03 9.95853709e-01 -2.60666469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.56629675700003 meters 0.07448659837089007 Centerline is valid? [True, True] Translation: X:218.33, Y:-44.57, Z:-26.07 [[ 8.07912153e-01 -5.84452722e-01 7.54517672e-02 2.18334375e+02] [ 5.82351239e-01 8.11418796e-01 4.96645936e-02 -4.45713954e+01] [-9.02495890e-02 3.81480142e-03 9.95911873e-01 -2.60699023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.59629675700003 meters 0.0745677212361889 Centerline is valid? [True, True] Translation: X:218.36, Y:-44.56, Z:-26.07 [[ 8.07945448e-01 -5.84317847e-01 7.61367624e-02 2.18357977e+02] [ 5.82176111e-01 8.11515888e-01 5.01292365e-02 -4.45551364e+01] [-9.10775999e-02 3.82331578e-03 9.95836459e-01 -2.60732426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.62629675700003 meters 0.07329185303264685 Centerline is valid? [True, True] Translation: X:218.38, Y:-44.53, Z:-26.08 [[ 8.08305754e-01 -5.83729572e-01 7.68218370e-02 2.18377972e+02] [ 5.81545187e-01 8.11939343e-01 5.05934718e-02 -4.45322370e+01] [-9.19075775e-02 3.78037513e-03 9.95760366e-01 -2.60754273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.65629675700004 meters 0.07319568922937014 Centerline is valid? [True, True] Translation: X:218.40, Y:-44.51, Z:-26.08 [[ 8.08541237e-01 -5.83391420e-01 7.69124139e-02 2.18400385e+02] [ 5.81198242e-01 8.12182587e-01 5.06759199e-02 -4.45146409e+01] [-9.20308202e-02 3.72778889e-03 9.95749181e-01 -2.60783912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.68629675700004 meters 0.07394805374981311 Centerline is valid? [True, True] Translation: X:218.42, Y:-44.50, Z:-26.08 [[ 8.08769650e-01 -5.83078399e-01 7.68845465e-02 2.18423542e+02] [ 5.80882786e-01 8.12407613e-01 5.06858919e-02 -4.45013036e+01] [-9.20154396e-02 3.66769851e-03 9.95750826e-01 -2.60825105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.71629675700004 meters 0.07267191152482622 Centerline is valid? [True, True] Translation: X:218.44, Y:-44.48, Z:-26.08 [[ 8.09902329e-01 -5.81498711e-01 7.69250740e-02 2.18443381e+02] [ 5.79291736e-01 8.13539912e-01 5.07335735e-02 -4.44790908e+01] [-9.20831255e-02 3.47282031e-03 9.95745267e-01 -2.60841433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.74629675700004 meters 0.07219128392883307 Centerline is valid? [True, True] Translation: X:218.47, Y:-44.46, Z:-26.09 [[ 8.10781839e-01 -5.80267243e-01 7.69593154e-02 2.18465295e+02] [ 5.78050212e-01 8.14419400e-01 5.07837935e-02 -4.44620189e+01] [-9.21453313e-02 3.31177113e-03 9.95740062e-01 -2.60874470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.77629675700004 meters 0.0719102319041115 Centerline is valid? [True, True] Translation: X:218.49, Y:-44.45, Z:-26.09 [[ 8.10972675e-01 -5.80017465e-01 7.68313846e-02 2.18487923e+02] [ 5.77806163e-01 8.14597463e-01 5.07051342e-02 -4.44457407e+01] [-9.19965144e-02 3.27316926e-03 9.95753949e-01 -2.60900081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.80629675700004 meters 0.07222661209804745 Centerline is valid? [True, True] Translation: X:218.51, Y:-44.43, Z:-26.09 [[ 8.10933413e-01 -5.80095628e-01 7.66554759e-02 2.18511031e+02] [ 5.77892308e-01 8.14541886e-01 5.06161623e-02 -4.44305288e+01] [-9.18013105e-02 3.25227265e-03 9.95772033e-01 -2.60929301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.83629675700004 meters 0.07219930665231276 Centerline is valid? [True, True] Translation: X:218.53, Y:-44.41, Z:-26.10 [[ 8.11198114e-01 -5.79798219e-01 7.61028579e-02 2.18532456e+02] [ 5.77622965e-01 8.14753919e-01 5.02768481e-02 -4.44144597e+01] [-9.11555287e-02 3.17427405e-03 9.95831609e-01 -2.60959117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.86629675700004 meters 0.07218753221256742 Centerline is valid? [True, True] Translation: X:218.56, Y:-44.40, Z:-26.10 [[ 8.11902433e-01 -5.78995485e-01 7.46904761e-02 2.18555252e+02] [ 5.76895024e-01 8.15325197e-01 4.93655205e-02 -4.43977701e+01] [-8.94794406e-02 3.00857784e-03 9.95984125e-01 -2.60993919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.89629675700002 meters 0.0718385400543904 Centerline is valid? [True, True] Translation: X:218.58, Y:-44.38, Z:-26.10 [[ 8.13054792e-01 -5.77587009e-01 7.30421335e-02 2.18576798e+02] [ 5.75570459e-01 8.16324434e-01 4.83018233e-02 -4.43812050e+01] [-8.75245839e-02 2.76886543e-03 9.96158512e-01 -2.61034218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92629675700002 meters 0.0717661284685371 Centerline is valid? [True, True] Translation: X:218.60, Y:-44.36, Z:-26.11 [[ 8.13482417e-01 -5.77034869e-01 7.26437692e-02 2.18599895e+02] [ 5.75036620e-01 8.16715112e-01 4.80553011e-02 -4.43649264e+01] [-8.70588485e-02 2.68068498e-03 9.96199564e-01 -2.61065683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95629675700002 meters 0.07240881885887689 Centerline is valid? [True, True] Translation: X:218.62, Y:-44.35, Z:-26.11 [[ 8.13198931e-01 -5.77630908e-01 7.10635788e-02 2.18624009e+02] [ 5.75718930e-01 8.16293720e-01 4.70348435e-02 -4.43516619e+01] [-8.51775325e-02 2.66396311e-03 9.96362229e-01 -2.61118112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98629675700002 meters 0.07190906400725777 Centerline is valid? [True, True] Translation: X:218.65, Y:-44.34, Z:-26.11 [[ 8.12820434e-01 -5.78193664e-01 7.08168722e-02 2.18647516e+02] [ 5.76295670e-01 8.15895090e-01 4.68881884e-02 -4.43353366e+01] [-8.48895917e-02 2.69977921e-03 9.96386706e-01 -2.61143842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01629675700002 meters 0.0710647181871854 Centerline is valid? [True, True] Translation: X:218.67, Y:-44.32, Z:-26.11 [[ 8.13093113e-01 -5.77850520e-01 7.04866420e-02 2.18669849e+02] [ 5.75967229e-01 8.16138366e-01 4.66895882e-02 -4.43173254e+01] [-8.45064557e-02 2.63501332e-03 9.96419448e-01 -2.61145341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04629675700002 meters 0.07019473997828327 Centerline is valid? [True, True] Translation: X:218.69, Y:-44.30, Z:-26.12 [[ 8.14626451e-01 -5.75680765e-01 7.05365232e-02 2.18692441e+02] [ 5.73784557e-01 8.17671046e-01 4.67476462e-02 -4.43000631e+01] [-8.45873935e-02 2.39089856e-03 9.96413196e-01 -2.61158165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07629675700002 meters 0.07100770922517466 Centerline is valid? [True, True] Translation: X:218.72, Y:-44.29, Z:-26.12 [[ 8.15757088e-01 -5.74053974e-01 7.07277084e-02 2.18717255e+02] [ 5.72139217e-01 8.18814486e-01 4.68994050e-02 -4.42868132e+01] [-8.48356620e-02 2.20757364e-03 9.96392512e-01 -2.61219151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10629675700002 meters 0.0697606427045065 Centerline is valid? [True, True] Translation: X:218.74, Y:-44.27, Z:-26.12 [[ 8.16317172e-01 -5.73248891e-01 7.07953620e-02 2.18738659e+02] [ 5.71325556e-01 8.19378586e-01 4.69664030e-02 -4.42655716e+01] [-8.49316420e-02 2.10771825e-03 9.96384551e-01 -2.61209707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.13629675700003 meters 0.07146809432465037 Centerline is valid? [True, True] Translation: X:218.76, Y:-44.26, Z:-26.13 [[ 8.15873262e-01 -5.73792558e-01 7.15046941e-02 2.18763827e+02] [ 5.71830522e-01 8.18997804e-01 4.74599865e-02 -4.42562225e+01] [-8.57943745e-02 2.16723256e-03 9.96310508e-01 -2.61288739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.16629675700003 meters 0.06999780273033221 Centerline is valid? [True, True] Translation: X:218.78, Y:-44.24, Z:-26.13 [[ 8.16315986e-01 -5.73237037e-01 7.09049390e-02 2.18784761e+02] [ 5.71303914e-01 8.19386966e-01 4.70833104e-02 -4.42352027e+01] [-8.50884802e-02 2.07341023e-03 9.96371242e-01 -2.61251318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.19629675700003 meters 0.0700467085677622 Centerline is valid? [True, True] Translation: X:218.81, Y:-44.22, Z:-26.13 [[ 8.16579967e-01 -5.72903092e-01 7.05634881e-02 2.18808570e+02] [ 5.70985121e-01 8.19620655e-01 4.68825451e-02 -4.42207105e+01] [-8.46944473e-02 2.00735471e-03 9.96404948e-01 -2.61281545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.22629675700003 meters 0.07010789606048266 Centerline is valid? [True, True] Translation: X:218.83, Y:-44.21, Z:-26.13 [[ 8.16323781e-01 -5.73376476e-01 6.96771287e-02 2.18833138e+02] [ 5.71505795e-01 8.19289563e-01 4.63221062e-02 -4.42068610e+01] [-8.36457504e-02 2.00704598e-03 9.96493532e-01 -2.61312532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.25629675700003 meters 0.0701392875755923 Centerline is valid? [True, True] Translation: X:218.86, Y:-44.19, Z:-26.13 [[ 8.16925909e-01 -5.72595812e-01 6.90369194e-02 2.18856165e+02] [ 5.70755812e-01 8.19835607e-01 4.59062225e-02 -4.41914274e+01] [-8.28846354e-02 1.90124040e-03 9.96557335e-01 -2.61348550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.28629675700003 meters 0.06991721377695809 Centerline is valid? [True, True] Translation: X:218.88, Y:-44.17, Z:-26.14 [[ 8.17926997e-01 -5.71190162e-01 6.88275116e-02 2.18879060e+02] [ 5.69354241e-01 8.20815934e-01 4.57924697e-02 -4.41739375e+01] [-8.26509264e-02 1.73233844e-03 9.96577053e-01 -2.61381293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.31629675700003 meters 0.06993636931579593 Centerline is valid? [True, True] Translation: X:218.90, Y:-44.16, Z:-26.14 [[ 8.20354983e-01 -5.67941029e-01 6.67883990e-02 2.18900205e+02] [ 5.66200100e-01 8.23068147e-01 4.44552776e-02 -4.41572079e+01] [-8.02193800e-02 1.34648969e-03 9.96776323e-01 -2.61419892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.34629675700003 meters 0.06998792929220514 Centerline is valid? [True, True] Translation: X:218.92, Y:-44.14, Z:-26.15 [[ 8.20981755e-01 -5.67103033e-01 6.62050459e-02 2.18923486e+02] [ 5.65387908e-01 8.23645934e-01 4.40895522e-02 -4.41409485e+01] [-7.95328357e-02 1.23481446e-03 9.96831482e-01 -2.61453755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.37629675700003 meters 0.06998792929220514 Centerline is valid? [True, True] Translation: X:218.95, Y:-44.13, Z:-26.15 [[ 8.20842367e-01 -5.67306042e-01 6.61941363e-02 2.18946308e+02] [ 5.65590256e-01 8.23506120e-01 4.41059239e-02 -4.41255854e+01] [-7.95328335e-02 1.23474755e-03 9.96831482e-01 -2.61483038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.40629675700004 meters 0.07019691791997375 Centerline is valid? [True, True] Translation: X:218.97, Y:-44.11, Z:-26.16 [[ 8.22743332e-01 -5.64832447e-01 6.37002134e-02 2.18967025e+02] [ 5.63234197e-01 8.25205085e-01 4.24712521e-02 -4.41084675e+01] [-7.65548813e-02 9.35199073e-04 9.97064930e-01 -2.61558398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.43629675700004 meters 0.07026939865030732 Centerline is valid? [True, True] Translation: X:218.99, Y:-44.09, Z:-26.16 [[ 8.23586162e-01 -5.63644588e-01 6.33293961e-02 2.18989449e+02] [ 5.62061195e-01 8.26017016e-01 4.22268074e-02 -4.40911470e+01] [-7.61120702e-02 8.17581835e-04 9.97098934e-01 -2.61605985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.46629675700004 meters 0.07032055022898062 Centerline is valid? [True, True] Translation: X:219.01, Y:-44.07, Z:-26.16 [[ 8.25175814e-01 -5.61315840e-01 6.33198596e-02 2.19011310e+02] [ 5.59724343e-01 8.27601466e-01 4.22430181e-02 -4.40726945e+01] [-7.61152839e-02 5.83750007e-04 9.97098853e-01 -2.61641665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.49629675700004 meters 0.07047529350210585 Centerline is valid? [True, True] Translation: X:219.03, Y:-44.05, Z:-26.17 [[ 8.27125827e-01 -5.58461397e-01 6.31168365e-02 2.19032539e+02] [ 5.56870176e-01 8.29530456e-01 4.21287332e-02 -4.40538204e+01] [-7.58846093e-02 3.02120559e-04 9.97116560e-01 -2.61671649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.52629675700004 meters 0.07040198945273038 Centerline is valid? [True, True] Translation: X:219.06, Y:-44.04, Z:-26.17 [[ 8.28101887e-01 -5.56917665e-01 6.39529478e-02 2.19055367e+02] [ 5.55277538e-01 8.30567694e-01 4.27102146e-02 -4.40367644e+01] [-7.69033253e-02 1.43226104e-04 9.97038544e-01 -2.61695721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.55629675700004 meters 0.07045307932834657 Centerline is valid? [True, True] Translation: X:219.08, Y:-44.02, Z:-26.17 [[ 8.29576276e-01 -5.54557087e-01 6.53424881e-02 2.19077628e+02] [ 5.52835849e-01 8.32145678e-01 4.36588477e-02 -4.40176427e+01] [-7.85857924e-02 -9.46743988e-05 9.96907350e-01 -2.61703098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.58629675700004 meters 0.0705650535508463 Centerline is valid? [True, True] Translation: X:219.10, Y:-44.00, Z:-26.17 [[ 8.30667957e-01 -5.52773950e-01 6.65710637e-02 2.19099892e+02] [ 5.50979868e-01 8.33331194e-01 4.45006296e-02 -4.39998431e+01] [-8.00745327e-02 -2.85931194e-04 9.96788838e-01 -2.61721693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.61629675700004 meters 0.07050240434783737 Centerline is valid? [True, True] Translation: X:219.12, Y:-43.98, Z:-26.17 [[ 8.30938498e-01 -5.52215456e-01 6.78181617e-02 2.19123292e+02] [ 5.50349862e-01 8.33701360e-01 4.53549435e-02 -4.39822036e+01] [-8.15857945e-02 -3.63452671e-04 9.96666256e-01 -2.61702128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.64629675700002 meters 0.07072170958852586 Centerline is valid? [True, True] Translation: X:219.15, Y:-43.96, Z:-26.17 [[ 8.32978181e-01 -5.48957988e-01 6.92277275e-02 2.19145145e+02] [ 5.47000694e-01 8.35849636e-01 4.63209135e-02 -4.39621432e+01] [-8.32922062e-02 -7.16695283e-04 9.96524909e-01 -2.61727077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67629675700002 meters 0.0709666773608985 Centerline is valid? [True, True] Translation: X:219.17, Y:-43.94, Z:-26.17 [[ 8.33669776e-01 -5.48044177e-01 6.81343094e-02 2.19168242e+02] [ 5.46143507e-01 8.36448993e-01 4.56108656e-02 -4.39444845e+01] [-8.19876438e-02 -8.13289438e-04 9.96633014e-01 -2.61746604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70629675700002 meters 0.07120727471090284 Centerline is valid? [True, True] Translation: X:219.19, Y:-43.93, Z:-26.18 [[ 8.33733408e-01 -5.47912131e-01 6.84171040e-02 2.19189738e+02] [ 5.45993164e-01 8.36535459e-01 4.58245719e-02 -4.39289744e+01] [-8.23411724e-02 -8.50205411e-04 9.96603837e-01 -2.61788565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73629675700002 meters 0.07131116355585129 Centerline is valid? [True, True] Translation: X:219.21, Y:-43.91, Z:-26.18 [[ 8.33238655e-01 -5.48709110e-01 6.80562714e-02 2.19212330e+02] [ 5.46811779e-01 8.36012981e-01 4.55979519e-02 -4.39132443e+01] [-8.19159379e-02 -7.80005241e-04 9.96638937e-01 -2.61828523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76629675700002 meters 0.07169566652005581 Centerline is valid? [True, True] Translation: X:219.23, Y:-43.90, Z:-26.19 [[ 8.32501997e-01 -5.49952052e-01 6.70310864e-02 2.19234867e+02] [ 5.48113215e-01 8.35195958e-01 4.49401195e-02 -4.38978760e+01] [-8.06990034e-02 -6.72114949e-04 9.96738290e-01 -2.61900058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79629675700002 meters 0.07181421982100493 Centerline is valid? [True, True] Translation: X:219.26, Y:-43.88, Z:-26.19 [[ 8.31927912e-01 -5.50885230e-01 6.64937046e-02 2.19259551e+02] [ 5.49078119e-01 8.34580807e-01 4.45880750e-02 -4.38822758e+01] [-8.00572815e-02 -5.83825895e-04 9.96790094e-01 -2.61928017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82629675700002 meters 0.07218070706490848 Centerline is valid? [True, True] Translation: X:219.28, Y:-43.87, Z:-26.20 [[ 8.30160533e-01 -5.53524744e-01 6.66621870e-02 2.19283152e+02] [ 5.51714934e-01 8.32832657e-01 4.47257967e-02 -4.38683223e+01] [-8.02752815e-02 -3.51067160e-04 9.96772670e-01 -2.61966978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85629675700002 meters 0.07211424035752105 Centerline is valid? [True, True] Translation: X:219.31, Y:-43.85, Z:-26.20 [[ 8.28557162e-01 -5.55806607e-01 6.76168914e-02 2.19308644e+02] [ 5.53951186e-01 8.31311612e-01 4.53771785e-02 -4.38534818e+01] [-8.14316426e-02 -1.41129079e-04 9.96678919e-01 -2.61984835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.88629675700003 meters 0.0720861411667051 Centerline is valid? [True, True] Translation: X:219.33, Y:-43.84, Z:-26.20 [[ 8.26776507e-01 -5.58364004e-01 6.83392014e-02 2.19334181e+02] [ 5.56475661e-01 8.29596064e-01 4.58825543e-02 -4.38391147e+01] [-8.23130993e-02 9.44843545e-05 9.96606515e-01 -2.61989104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.91629675700003 meters 0.07212501366198108 Centerline is valid? [True, True] Translation: X:219.36, Y:-43.82, Z:-26.20 [[ 8.25554213e-01 -5.60047863e-01 6.93298885e-02 2.19358593e+02] [ 5.58108241e-01 8.28460217e-01 4.65710325e-02 -4.38233265e+01] [-8.35190617e-02 2.46670003e-04 9.96506149e-01 -2.62011340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.94629675700003 meters 0.07227019501518821 Centerline is valid? [True, True] Translation: X:219.38, Y:-43.81, Z:-26.20 [[ 8.23968389e-01 -5.62241310e-01 7.04329686e-02 2.19383000e+02] [ 5.60245344e-01 8.26973096e-01 4.73355360e-02 -4.38085039e+01] [-8.48601638e-02 4.56757429e-04 9.96392766e-01 -2.62042202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.97629675700003 meters 0.07238179590443487 Centerline is valid? [True, True] Translation: X:219.41, Y:-43.79, Z:-26.21 [[ 8.23914828e-01 -5.62394429e-01 6.98345406e-02 2.19405469e+02] [ 5.60430692e-01 8.26868978e-01 4.69588408e-02 -4.37923347e+01] [-8.41534056e-02 4.47334678e-04 9.96452710e-01 -2.62084128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.00629675700003 meters 0.07275628927155582 Centerline is valid? [True, True] Translation: X:219.43, Y:-43.78, Z:-26.21 [[ 8.22031552e-01 -5.65137159e-01 6.98864709e-02 2.19429536e+02] [ 5.63179393e-01 8.24996651e-01 4.70052812e-02 -4.37791443e+01] [-8.42205355e-02 7.18795975e-04 9.96446880e-01 -2.62138441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.03629675700003 meters 0.07288097630258887 Centerline is valid? [True, True] Translation: X:219.45, Y:-43.76, Z:-26.22 [[ 8.20539635e-01 -5.67343244e-01 6.95438746e-02 2.19454014e+02] [ 5.65411620e-01 8.23480890e-01 4.67859263e-02 -4.37649811e+01] [-8.38117310e-02 9.31207961e-04 9.96481172e-01 -2.62177138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.06629675700003 meters 0.07323106816985904 Centerline is valid? [True, True] Translation: X:219.48, Y:-43.75, Z:-26.22 [[ 8.19009948e-01 -5.69571336e-01 6.93628036e-02 2.19478814e+02] [ 5.67656639e-01 8.21941106e-01 4.66771731e-02 -4.37515982e+01] [-8.35981194e-02 1.14518683e-03 9.96498893e-01 -2.62220189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.09629675700003 meters 0.0736299919863183 Centerline is valid? [True, True] Translation: X:219.50, Y:-43.74, Z:-26.23 [[ 8.16554029e-01 -5.73092782e-01 6.93122026e-02 2.19504658e+02] [ 5.71192523e-01 8.19489128e-01 4.66548110e-02 -4.37405376e+01] [-8.35381318e-02 1.49443798e-03 9.96503461e-01 -2.62258939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.12629675700003 meters 0.07395912646686824 Centerline is valid? [True, True] Translation: X:219.53, Y:-43.73, Z:-26.23 [[ 8.15181047e-01 -5.75033116e-01 6.94030044e-02 2.19530174e+02] [ 5.73133211e-01 8.18128411e-01 4.67357016e-02 -4.37262113e+01] [-8.36551458e-02 1.67910862e-03 9.96493350e-01 -2.62295546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.15629675700004 meters 0.07441697855518886 Centerline is valid? [True, True] Translation: X:219.55, Y:-43.71, Z:-26.23 [[ 8.13341057e-01 -5.77502556e-01 7.04778143e-02 2.19554995e+02] [ 5.75550399e-01 8.16386565e-01 4.74838429e-02 -4.37128533e+01] [-8.49591813e-02 1.94297518e-03 9.96382538e-01 -2.62319634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.18629675700004 meters 0.07445632016356665 Centerline is valid? [True, True] Translation: X:219.58, Y:-43.70, Z:-26.23 [[ 8.13263966e-01 -5.77560650e-01 7.08901778e-02 2.19578894e+02] [ 5.75584878e-01 8.16345444e-01 4.77719931e-02 -4.36978255e+01] [-8.54620971e-02 1.95207380e-03 9.96339510e-01 -2.62340294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.21629675700004 meters 0.0742940709829113 Centerline is valid? [True, True] Translation: X:219.60, Y:-43.68, Z:-26.24 [[ 8.13183881e-01 -5.77370409e-01 7.33170297e-02 2.19602269e+02] [ 5.75253436e-01 8.16479951e-01 4.94365670e-02 -4.36830807e+01] [-8.84050957e-02 1.97485379e-03 9.96082647e-01 -2.62355315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.24629675700004 meters 0.07370846810139313 Centerline is valid? [True, True] Translation: X:219.62, Y:-43.66, Z:-26.24 [[ 8.13264198e-01 -5.77120527e-01 7.43857585e-02 2.19624007e+02] [ 5.74939689e-01 8.16656605e-01 5.01631613e-02 -4.36636733e+01] [-8.96978111e-02 1.97142174e-03 9.95967076e-01 -2.62360870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.27629675700004 meters 0.07312662322926249 Centerline is valid? [True, True] Translation: X:219.64, Y:-43.64, Z:-26.24 [[ 8.14502799e-01 -5.75129392e-01 7.62323653e-02 2.19644437e+02] [ 5.72827763e-01 8.18060529e-01 5.14327258e-02 -4.36425752e+01] [-9.19431614e-02 1.77591619e-03 9.95762673e-01 -2.62371562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.30629675700004 meters 0.0730099323261401 Centerline is valid? [True, True] Translation: X:219.67, Y:-43.62, Z:-26.24 [[ 8.15215354e-01 -5.74034073e-01 7.68687780e-02 2.19666428e+02] [ 5.71686341e-01 8.18829764e-01 5.18897503e-02 -4.36239049e+01] [-9.27289281e-02 1.64350920e-03 9.95690034e-01 -2.62413872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.33629675700004 meters 0.07270102121812312 Centerline is valid? [True, True] Translation: X:219.69, Y:-43.60, Z:-26.24 [[ 8.16575791e-01 -5.72081494e-01 7.69853306e-02 2.19687789e+02] [ 5.69715633e-01 8.20195583e-01 5.19932991e-02 -4.36046538e+01] [-9.28874324e-02 1.40327699e-03 9.95675628e-01 -2.62448625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.36629675700004 meters 0.07258292022740431 Centerline is valid? [True, True] Translation: X:219.71, Y:-43.58, Z:-26.25 [[ 8.17908213e-01 -5.70054044e-01 7.78751696e-02 2.19707876e+02] [ 5.67621483e-01 8.21606371e-01 5.26196186e-02 -4.35835290e+01] [-9.39787618e-02 1.16560105e-03 9.95573520e-01 -2.62480926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39629675700002 meters 0.072449096862726 Centerline is valid? [True, True] Translation: X:219.73, Y:-43.57, Z:-26.25 [[ 8.18893055e-01 -5.68605271e-01 7.81166474e-02 2.19729034e+02] [ 5.66148564e-01 8.22609921e-01 5.28083368e-02 -4.35651803e+01] [-9.42866279e-02 9.81247530e-04 9.95544609e-01 -2.62525334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42629675700002 meters 0.07252720132710494 Centerline is valid? [True, True] Translation: X:219.75, Y:-43.55, Z:-26.25 [[ 8.19594919e-01 -5.67559262e-01 7.83623098e-02 2.19750986e+02] [ 5.65079647e-01 8.23332118e-01 5.30020347e-02 -4.35482653e+01] [-9.46000022e-02 8.40748065e-04 9.95515009e-01 -2.62549332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45629675700002 meters 0.07243090249173345 Centerline is valid? [True, True] Translation: X:219.77, Y:-43.53, Z:-26.26 [[ 8.19612236e-01 -5.67493623e-01 7.86560244e-02 2.19772865e+02] [ 5.64994362e-01 8.23377373e-01 5.32078236e-02 -4.35318527e+01] [-9.49586914e-02 8.30427040e-04 9.95480867e-01 -2.62590830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48629675700002 meters 0.07257673591409128 Centerline is valid? [True, True] Translation: X:219.80, Y:-43.52, Z:-26.26 [[ 8.18799595e-01 -5.68521846e-01 7.96877215e-02 2.19795898e+02] [ 5.65958797e-01 8.22667628e-01 5.39315697e-02 -4.35151899e+01] [-9.62177843e-02 9.40819609e-04 9.95359861e-01 -2.62613229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51629675700002 meters 0.0725352617679012 Centerline is valid? [True, True] Translation: X:219.82, Y:-43.50, Z:-26.26 [[ 8.17989472e-01 -5.69733107e-01 7.93562292e-02 2.19820070e+02] [ 5.67194286e-01 8.21829103e-01 5.37360916e-02 -4.34988651e+01] [-9.58324890e-02 1.05484259e-03 9.95396916e-01 -2.62644978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54629675700002 meters 0.0725282685228168 Centerline is valid? [True, True] Translation: X:219.84, Y:-43.48, Z:-26.27 [[ 8.16924119e-01 -5.71153113e-01 8.01193169e-02 2.19843023e+02] [ 5.68569469e-01 8.20842647e-01 5.42780535e-02 -4.34817409e+01] [-9.67664314e-02 1.21234649e-03 9.95306379e-01 -2.62667166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57629675700002 meters 0.07248485327384664 Centerline is valid? [True, True] Translation: X:219.87, Y:-43.47, Z:-26.27 [[ 8.16061227e-01 -5.72317518e-01 8.06023088e-02 2.19866311e+02] [ 5.69705609e-01 8.20031019e-01 5.46319228e-02 -4.34653468e+01] [-9.73631999e-02 1.33659347e-03 9.95248020e-01 -2.62695866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60629675700002 meters 0.07247874668098055 Centerline is valid? [True, True] Translation: X:219.89, Y:-43.45, Z:-26.27 [[ 8.15669586e-01 -5.72828311e-01 8.09373323e-02 2.19888998e+02] [ 5.70194472e-01 8.19674214e-01 5.48857534e-02 -4.34496926e+01] [-9.77823577e-02 1.38137965e-03 9.95206864e-01 -2.62739808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.63629675700003 meters 0.07270647357431698 Centerline is valid? [True, True] Translation: X:219.91, Y:-43.44, Z:-26.28 [[ 8.13852312e-01 -5.75422701e-01 8.08277762e-02 2.19913888e+02] [ 5.72805706e-01 8.17854475e-01 5.48423191e-02 -4.34354984e+01] [-9.76628739e-02 1.66506321e-03 9.95218162e-01 -2.62787235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.66629675700003 meters 0.0729330123325933 Centerline is valid? [True, True] Translation: X:219.94, Y:-43.42, Z:-26.28 [[ 8.12448580e-01 -5.77557212e-01 7.97180795e-02 2.19939099e+02] [ 5.75019447e-01 8.16348062e-01 5.41154116e-02 -4.34212935e+01] [-9.63324459e-02 1.87345666e-03 9.95347452e-01 -2.62830592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.69629675700003 meters 0.07389925111547836 Centerline is valid? [True, True] Translation: X:219.97, Y:-43.41, Z:-26.29 [[ 8.08057804e-01 -5.83653763e-01 7.99429254e-02 2.19966570e+02] [ 5.81128481e-01 8.11998531e-01 5.42961607e-02 -4.34133799e+01] [-9.66036965e-02 2.58267451e-03 9.95319575e-01 -2.62860137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.72629675700003 meters 0.07451814877393345 Centerline is valid? [True, True] Translation: X:219.99, Y:-43.40, Z:-26.29 [[ 8.05278542e-01 -5.87368023e-01 8.07791795e-02 2.19993004e+02] [ 5.84807204e-01 8.09314210e-01 5.48729800e-02 -4.34021126e+01] [-9.76063715e-02 3.05221283e-03 9.95220418e-01 -2.62899963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.75629675700003 meters 0.07558261502640803 Centerline is valid? [True, True] Translation: X:220.02, Y:-43.39, Z:-26.29 [[ 8.00276548e-01 -5.94112071e-01 8.11683096e-02 2.20021286e+02] [ 5.91557946e-01 8.04372979e-01 5.51661754e-02 -4.33935585e+01] [-9.80644857e-02 3.86756216e-03 9.95172547e-01 -2.62923753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.78629675700003 meters 0.07628257172534436 Centerline is valid? [True, True] Translation: X:220.05, Y:-43.38, Z:-26.30 [[ 7.97792186e-01 -5.97454406e-01 8.10916742e-02 2.20047365e+02] [ 5.94920662e-01 8.01891563e-01 5.51300976e-02 -4.33816929e+01] [-9.79644491e-02 4.26075138e-03 9.95180794e-01 -2.62952745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.81629675700003 meters 0.07683528162224137 Centerline is valid? [True, True] Translation: X:220.07, Y:-43.37, Z:-26.30 [[ 7.95904941e-01 -5.99899450e-01 8.15841555e-02 2.20072762e+02] [ 5.97344685e-01 8.00062371e-01 5.54935057e-02 -4.33687716e+01] [-9.85629365e-02 4.56630626e-03 9.95120343e-01 -2.62980184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.84629675700003 meters 0.07655383385539127 Centerline is valid? [True, True] Translation: X:220.10, Y:-43.35, Z:-26.30 [[ 7.93069059e-01 -6.03634695e-01 8.16493923e-02 2.20098171e+02] [ 6.01092655e-01 7.97245284e-01 5.55659751e-02 -4.33547006e+01] [-9.86361434e-02 5.01119443e-03 9.95110948e-01 -2.63005870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.87629675700003 meters 0.07973618313195198 Centerline is valid? [True, True] Translation: X:220.13, Y:-43.35, Z:-26.30 [[ 7.91198360e-01 -6.06107889e-01 8.14762699e-02 2.20128086e+02] [ 6.03586995e-01 7.95364873e-01 5.54748516e-02 -4.33500925e+01] [-9.84271082e-02 5.28640528e-03 9.95130222e-01 -2.63044813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.90629675700004 meters 0.07970221543717734 Centerline is valid? [True, True] Translation: X:220.15, Y:-43.34, Z:-26.31 [[ 7.90936181e-01 -6.06419159e-01 8.17053280e-02 2.20151685e+02] [ 6.03882809e-01 7.95127369e-01 5.56598688e-02 -4.33354432e+01] [-9.87193533e-02 5.31703893e-03 9.95101110e-01 -2.63075711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.93629675700004 meters 0.0799558732153697 Centerline is valid? [True, True] Translation: X:220.18, Y:-43.32, Z:-26.31 [[ 7.90980164e-01 -6.06323440e-01 8.19894310e-02 2.20175752e+02] [ 6.03765937e-01 7.95200474e-01 5.58828996e-02 -4.33207384e+01] [-9.90811463e-02 5.30016057e-03 9.95065241e-01 -2.63110681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.96629675700004 meters 0.07759899158055476 Centerline is valid? [True, True] Translation: X:220.20, Y:-43.30, Z:-26.31 [[ 7.92468387e-01 -6.04352234e-01 8.21719682e-02 2.20196434e+02] [ 6.01769939e-01 7.96701295e-01 5.60355930e-02 -4.33010059e+01] [-9.93317493e-02 5.04218421e-03 9.95041597e-01 -2.63116377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.99629675700004 meters 0.07638525583092516 Centerline is valid? [True, True] Translation: X:220.22, Y:-43.28, Z:-26.31 [[ 7.93323895e-01 -6.03217626e-01 8.22538342e-02 2.20218400e+02] [ 6.00621039e-01 7.97561708e-01 5.61220993e-02 -4.32822802e+01] [-9.94563480e-02 4.88038095e-03 9.95029958e-01 -2.63133869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.02629675700004 meters 0.07600463460031046 Centerline is valid? [True, True] Translation: X:220.24, Y:-43.27, Z:-26.32 [[ 7.96261206e-01 -5.99252248e-01 8.28543018e-02 2.20241372e+02] [ 5.96593002e-01 8.00548223e-01 5.65626420e-02 -4.32672210e+01] [-1.00224154e-01 4.39165909e-03 9.94955191e-01 -2.63169454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.05629675700004 meters 0.07542957522548203 Centerline is valid? [True, True] Translation: X:220.26, Y:-43.25, Z:-26.32 [[ 7.97632447e-01 -5.97347691e-01 8.34159157e-02 2.20264038e+02] [ 5.94639515e-01 8.01971578e-01 5.69687312e-02 -4.32497185e+01] [-1.00927334e-01 4.16229110e-03 9.94885093e-01 -2.63201261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.08629675700004 meters 0.07488678715006936 Centerline is valid? [True, True] Translation: X:220.29, Y:-43.23, Z:-26.32 [[ 8.00618618e-01 -5.93437855e-01 8.27123921e-02 2.20285537e+02] [ 5.90751587e-01 8.04871697e-01 5.65164940e-02 -4.32312102e+01] [-1.00111890e-01 3.61431950e-03 9.94969621e-01 -2.63236033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.11629675700004 meters 0.0744839679836466 Centerline is valid? [True, True] Translation: X:220.31, Y:-43.21, Z:-26.33 [[ 8.01798634e-01 -5.91894440e-01 8.23402828e-02 2.20308606e+02] [ 5.89222478e-01 8.06008355e-01 5.62796865e-02 -4.32135540e+01] [-9.96785893e-02 3.39176974e-03 9.95013907e-01 -2.63274855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14629675700002 meters 0.07420438948242092 Centerline is valid? [True, True] Translation: X:220.33, Y:-43.20, Z:-26.33 [[ 8.02853685e-01 -5.90480104e-01 8.22143971e-02 2.20331941e+02] [ 5.87807532e-01 8.07045853e-01 5.62076154e-02 -4.31962423e+01] [-9.95402668e-02 3.19975070e-03 9.95028390e-01 -2.63304225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17629675700002 meters 0.07357059093195317 Centerline is valid? [True, True] Translation: X:220.35, Y:-43.18, Z:-26.33 [[ 8.05540331e-01 -5.86854031e-01 8.18970189e-02 2.20353397e+02] [ 5.84180687e-01 8.09688185e-01 5.60175690e-02 -4.31788872e+01] [-9.91851848e-02 2.71824573e-03 9.95065279e-01 -2.63336690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20629675700002 meters 0.07291656684659428 Centerline is valid? [True, True] Translation: X:220.37, Y:-43.16, Z:-26.34 [[ 8.08031288e-01 -5.83532528e-01 8.10877681e-02 2.20374398e+02] [ 5.80892110e-01 8.12086617e-01 5.54948977e-02 -4.31591268e+01] [-9.82333692e-02 2.26163104e-03 9.95160836e-01 -2.63363531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23629675700002 meters 0.07270978638167057 Centerline is valid? [True, True] Translation: X:220.40, Y:-43.14, Z:-26.34 [[ 8.09168883e-01 -5.81887900e-01 8.15609592e-02 2.20396130e+02] [ 5.79205240e-01 8.13266420e-01 5.58481968e-02 -4.31416731e+01] [-9.88281793e-02 2.04991192e-03 9.95102401e-01 -2.63388248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26629675700002 meters 0.07229276560882013 Centerline is valid? [True, True] Translation: X:220.42, Y:-43.12, Z:-26.34 [[ 8.10341185e-01 -5.80335207e-01 8.09827829e-02 2.20418537e+02] [ 5.77681984e-01 8.14375626e-01 5.54604797e-02 -4.31234516e+01] [-9.81360735e-02 1.84038375e-03 9.95171304e-01 -2.63419936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29629675700002 meters 0.07229276560882013 Centerline is valid? [True, True] Translation: X:220.44, Y:-43.11, Z:-26.34 [[ 8.10191912e-01 -5.80545306e-01 8.09704457e-02 2.20441142e+02] [ 5.77891331e-01 8.14225858e-01 5.54784855e-02 -4.31077695e+01] [-9.81360049e-02 1.84389839e-03 9.95171304e-01 -2.63449235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32629675700002 meters 0.07183466796948393 Centerline is valid? [True, True] Translation: X:220.46, Y:-43.09, Z:-26.35 [[ 8.12010111e-01 -5.78164215e-01 7.97854627e-02 2.20461483e+02] [ 5.75572935e-01 8.15919034e-01 5.46984992e-02 -4.30892112e+01] [-9.67231925e-02 1.50661849e-03 9.95310180e-01 -2.63483404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35629675700002 meters 0.07160659065190914 Centerline is valid? [True, True] Translation: X:220.48, Y:-43.07, Z:-26.35 [[ 8.12784910e-01 -5.77213104e-01 7.87764055e-02 2.20482476e+02] [ 5.74681944e-01 8.16592406e-01 5.40139507e-02 -4.30723216e+01] [-9.55057746e-02 1.36965373e-03 9.95427934e-01 -2.63510355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.38629675700003 meters 0.07156173596854591 Centerline is valid? [True, True] Translation: X:220.50, Y:-43.06, Z:-26.35 [[ 8.12536952e-01 -5.77577530e-01 7.86632000e-02 2.20504926e+02] [ 5.75052931e-01 8.16334653e-01 5.39616629e-02 -4.30551874e+01] [-9.53825401e-02 1.38965867e-03 9.95439722e-01 -2.63530541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.41629675700003 meters 0.07144246715583105 Centerline is valid? [True, True] Translation: X:220.53, Y:-43.04, Z:-26.35 [[ 8.12338546e-01 -5.78017830e-01 7.74691818e-02 2.20527548e+02] [ 5.75568682e-01 8.16022942e-01 5.31718963e-02 -4.30375975e+01] [-9.39509337e-02 1.39525394e-03 9.95575851e-01 -2.63548793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.44629675700003 meters 0.07151584317615757 Centerline is valid? [True, True] Translation: X:220.55, Y:-43.02, Z:-26.36 [[ 8.11431965e-01 -5.79282638e-01 7.75228449e-02 2.20551316e+02] [ 5.76833305e-01 8.15125336e-01 5.32355601e-02 -4.30207291e+01] [-9.40292706e-02 1.52072366e-03 9.95568272e-01 -2.63580649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.47629675700003 meters 0.07211215722476758 Centerline is valid? [True, True] Translation: X:220.58, Y:-43.01, Z:-26.36 [[ 8.10283867e-01 -5.80835469e-01 7.79115681e-02 2.20575335e+02] [ 5.78365970e-01 8.14019234e-01 5.35302899e-02 -4.30077123e+01] [-9.45138060e-02 1.68666940e-03 9.95522122e-01 -2.63624677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.50629675700003 meters 0.07233218742609651 Centerline is valid? [True, True] Translation: X:220.60, Y:-42.99, Z:-26.36 [[ 8.07884147e-01 -5.84264111e-01 7.71923245e-02 2.20599679e+02] [ 5.81854025e-01 8.11560985e-01 5.30533939e-02 -4.29925729e+01] [-9.36434729e-02 2.05366879e-03 9.95603677e-01 -2.63646891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.53629675700003 meters 0.07300080262919655 Centerline is valid? [True, True] Translation: X:220.62, Y:-42.98, Z:-26.37 [[ 8.04817567e-01 -5.88538143e-01 7.67563562e-02 2.20624416e+02] [ 5.86172199e-01 8.08465540e-01 5.27790094e-02 -4.29787547e+01] [-9.31173291e-02 2.51496819e-03 9.95651966e-01 -2.63676106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.56629675700003 meters 0.07363730754449628 Centerline is valid? [True, True] Translation: X:220.65, Y:-42.96, Z:-26.37 [[ 8.02423718e-01 -5.91741499e-01 7.71892187e-02 2.20648714e+02] [ 5.89362122e-01 8.06122597e-01 5.30909485e-02 -4.29647479e+01] [-9.36400908e-02 2.89096543e-03 9.95601916e-01 -2.63714124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.59629675700003 meters 0.07386708046039081 Centerline is valid? [True, True] Translation: X:220.67, Y:-42.95, Z:-26.37 [[ 8.00769277e-01 -5.93984494e-01 7.71426308e-02 2.20672810e+02] [ 5.91615743e-01 8.04470404e-01 5.30865372e-02 -4.29497240e+01] [-9.35915434e-02 3.12872685e-03 9.95605762e-01 -2.63740861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.62629675700003 meters 0.07553886225970176 Centerline is valid? [True, True] Translation: X:220.70, Y:-42.94, Z:-26.38 [[ 7.97946562e-01 -5.97866110e-01 7.64028647e-02 2.20698928e+02] [ 5.95557904e-01 8.01588217e-01 5.26033561e-02 -4.29401679e+01] [-9.26933999e-02 3.52766282e-03 9.95688450e-01 -2.63771577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.65629675700004 meters 0.07608572074622642 Centerline is valid? [True, True] Translation: X:220.72, Y:-42.93, Z:-26.38 [[ 7.96513386e-01 -5.99860135e-01 7.57247928e-02 2.20723137e+02] [ 5.97600776e-01 8.00096244e-01 5.21470333e-02 -4.29254469e+01] [-9.18680487e-02 3.71738483e-03 9.95764251e-01 -2.63804321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.68629675700004 meters 0.07695128011175291 Centerline is valid? [True, True] Translation: X:220.75, Y:-42.91, Z:-26.39 [[ 7.93574446e-01 -6.03876404e-01 7.46517772e-02 2.20746826e+02] [ 6.01696080e-01 7.97067416e-01 5.14330861e-02 -4.29112216e+01] [-9.05617262e-02 4.10169891e-03 9.95882398e-01 -2.63853466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.71629675700004 meters 0.07719381880413789 Centerline is valid? [True, True] Translation: X:220.77, Y:-42.90, Z:-26.39 [[ 7.92343178e-01 -6.05532796e-01 7.43123226e-02 2.20770761e+02] [ 6.03377158e-01 7.95809003e-01 5.12253558e-02 -4.28959098e+01] [-9.01570482e-02 4.25029676e-03 9.95918491e-01 -2.63878831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.74629675700004 meters 0.07970397398562029 Centerline is valid? [True, True] Translation: X:220.80, Y:-42.89, Z:-26.39 [[ 7.89548297e-01 -6.09135617e-01 7.46142489e-02 2.20795966e+02] [ 6.06975963e-01 7.93052389e-01 5.14595875e-02 -4.28857180e+01] [-9.05188760e-02 4.65922591e-03 9.95883841e-01 -2.63934733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.77629675700004 meters 0.08035226506561148 Centerline is valid? [True, True] Translation: X:220.82, Y:-42.87, Z:-26.40 [[ 7.87824535e-01 -6.11561475e-01 7.29730332e-02 2.20819936e+02] [ 6.09504915e-01 7.91182259e-01 5.03427472e-02 -4.28711512e+01] [-8.85226540e-02 4.81617096e-03 9.96062520e-01 -2.63970222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.80629675700004 meters 0.07979093262943936 Centerline is valid? [True, True] Translation: X:220.84, Y:-42.85, Z:-26.40 [[ 7.86528839e-01 -6.13343315e-01 7.19886331e-02 2.20842704e+02] [ 6.11347424e-01 7.89801028e-01 4.96856488e-02 -4.28538096e+01] [-8.73310570e-02 4.93086976e-03 9.96167141e-01 -2.63996955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.83629675700004 meters 0.07869382543895614 Centerline is valid? [True, True] Translation: X:220.87, Y:-42.84, Z:-26.40 [[ 7.83378062e-01 -6.17514996e-01 7.06685270e-02 2.20865199e+02] [ 6.15606520e-01 7.86541406e-01 4.87978313e-02 -4.28353400e+01] [-8.57171152e-02 5.27685548e-03 9.96305541e-01 -2.64008790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.86629675700004 meters 0.08042591740305897 Centerline is valid? [True, True] Translation: X:220.89, Y:-42.82, Z:-26.40 [[ 7.81700930e-01 -6.19649106e-01 7.05594873e-02 2.20891032e+02] [ 6.17752778e-01 7.84859828e-01 4.87499292e-02 -4.28243050e+01] [-8.55871571e-02 5.48045430e-03 9.96315614e-01 -2.64044109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89629675700002 meters 0.08065447723950656 Centerline is valid? [True, True] Translation: X:220.92, Y:-42.81, Z:-26.41 [[ 7.79193181e-01 -6.22929456e-01 6.94037398e-02 2.20916376e+02] [ 6.21107189e-01 7.82256962e-01 4.79573179e-02 -4.28102445e+01] [-8.41655846e-02 5.73914666e-03 9.96435255e-01 -2.64057290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92629675700002 meters 0.08101558396547495 Centerline is valid? [True, True] Translation: X:220.94, Y:-42.80, Z:-26.41 [[ 7.78044709e-01 -6.24423411e-01 6.88609813e-02 2.20940116e+02] [ 6.22633178e-01 7.81064256e-01 4.76083478e-02 -4.27964872e+01] [-8.35126180e-02 5.83370852e-03 9.96489644e-01 -2.64080938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95629675700002 meters 0.0833842923967085 Centerline is valid? [True, True] Translation: X:220.97, Y:-42.79, Z:-26.41 [[ 7.77115421e-01 -6.25672453e-01 6.80117995e-02 2.20967771e+02] [ 6.23929539e-01 7.80063713e-01 4.70375752e-02 -4.27876222e+01] [-8.24836519e-02 5.88094572e-03 9.96575066e-01 -2.64121692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98629675700002 meters 0.08466083709237718 Centerline is valid? [True, True] Translation: X:220.99, Y:-42.77, Z:-26.42 [[ 7.75940826e-01 -6.27150848e-01 6.78059571e-02 2.20992983e+02] [ 6.25423181e-01 7.78874623e-01 4.69059243e-02 -4.27734462e+01] [-8.22294295e-02 6.01119578e-03 9.96595297e-01 -2.64157545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01629675700002 meters 0.08134285900623603 Centerline is valid? [True, True] Translation: X:221.01, Y:-42.75, Z:-26.42 [[ 7.76036404e-01 -6.27000002e-01 6.81065125e-02 2.21013231e+02] [ 6.25254654e-01 7.78996104e-01 4.71347806e-02 -4.27518147e+01] [-8.26082154e-02 6.00560826e-03 9.96564005e-01 -2.64159555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04629675700002 meters 0.08132567332980241 Centerline is valid? [True, True] Translation: X:221.04, Y:-42.74, Z:-26.42 [[ 7.76215505e-01 -6.26714947e-01 6.86867181e-02 2.21037964e+02] [ 6.24936652e-01 7.79225432e-01 4.75595148e-02 -4.27360015e+01] [-8.33286964e-02 6.00841483e-03 9.96504003e-01 -2.64191559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07629675700002 meters 0.08386249519490069 Centerline is valid? [True, True] Translation: X:221.06, Y:-42.73, Z:-26.42 [[ 7.77270642e-01 -6.25428330e-01 6.84817817e-02 2.21063557e+02] [ 6.23654071e-01 7.80259782e-01 4.74370333e-02 -4.27256824e+01] [-8.31020446e-02 5.83752863e-03 9.96523945e-01 -2.64247707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10629675700002 meters 0.0807903138668368 Centerline is valid? [True, True] Translation: X:221.08, Y:-42.70, Z:-26.43 [[ 7.81723194e-01 -6.19762490e-01 6.93058678e-02 2.21082386e+02] [ 6.17920554e-01 7.84771713e-01 4.80369448e-02 -4.27027931e+01] [-8.41607811e-02 5.27392627e-03 9.96438231e-01 -2.64259854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.13629675700003 meters 0.08150875040368234 Centerline is valid? [True, True] Translation: X:221.11, Y:-42.69, Z:-26.43 [[ 7.83336278e-01 -6.17761398e-01 6.89574565e-02 2.21106094e+02] [ 6.15929293e-01 7.86349549e-01 4.78068319e-02 -4.26885337e+01] [-8.37578802e-02 5.02409171e-03 9.96473470e-01 -2.64305500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.16629675700003 meters 0.07897819470884178 Centerline is valid? [True, True] Translation: X:221.12, Y:-42.67, Z:-26.43 [[ 7.88048998e-01 -6.11687637e-01 6.94046948e-02 2.21124663e+02] [ 6.09805928e-01 7.91087233e-01 4.81427054e-02 -4.26660062e+01] [-8.43534657e-02 4.38458355e-03 9.96426248e-01 -2.64347653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.19629675700003 meters 0.07672184784754277 Centerline is valid? [True, True] Translation: X:221.14, Y:-42.64, Z:-26.44 [[ 7.90738968e-01 -6.08150381e-01 6.98927645e-02 2.21143020e+02] [ 6.06226370e-01 7.93811677e-01 4.85037121e-02 -4.26432570e+01] [-8.49792436e-02 4.01706167e-03 9.96374624e-01 -2.64367383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.22629675700003 meters 0.07547921878625555 Centerline is valid? [True, True] Translation: X:221.16, Y:-42.62, Z:-26.44 [[ 7.96823232e-01 -6.00326207e-01 6.84191633e-02 2.21162180e+02] [ 5.98451622e-01 7.99749264e-01 4.75054863e-02 -4.26215069e+01] [-8.32369638e-02 3.09208412e-03 9.96524986e-01 -2.64430968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.25629675700003 meters 0.07492310751302088 Centerline is valid? [True, True] Translation: X:221.18, Y:-42.60, Z:-26.45 [[ 7.99197450e-01 -5.97217325e-01 6.79330706e-02 2.21182851e+02] [ 5.95356362e-01 8.02074814e-01 4.71889246e-02 -4.26024360e+01] [-8.26694483e-02 2.73111759e-03 9.96573280e-01 -2.64472365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.28629675700003 meters 0.07480575151210868 Centerline is valid? [True, True] Translation: X:221.21, Y:-42.58, Z:-26.45 [[ 8.00588455e-01 -5.95387116e-01 6.76188358e-02 2.21205638e+02] [ 5.93534652e-01 8.03435055e-01 4.69971124e-02 -4.25842983e+01] [-8.23088183e-02 2.50877663e-03 9.96603715e-01 -2.64509092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.31629675700003 meters 0.07406555490677426 Centerline is valid? [True, True] Translation: X:221.23, Y:-42.56, Z:-26.45 [[ 8.04649395e-01 -5.89839490e-01 6.80347482e-02 2.21226678e+02] [ 5.87942321e-01 8.07518198e-01 4.73094941e-02 -4.25642501e+01] [-8.28443051e-02 1.93295191e-03 9.96560628e-01 -2.64542739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.34629675700003 meters 0.07350288469314989 Centerline is valid? [True, True] Translation: X:221.25, Y:-42.55, Z:-26.46 [[ 8.07842926e-01 -5.85352609e-01 6.89356938e-02 2.21247859e+02] [ 5.83387449e-01 8.10777482e-01 4.79474522e-02 -4.25454334e+01] [-8.39576745e-02 1.48220851e-03 9.96468219e-01 -2.64552016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.37629675700003 meters 0.0732913623884083 Centerline is valid? [True, True] Translation: X:221.27, Y:-42.53, Z:-26.46 [[ 8.09931286e-01 -5.82433696e-01 6.91541913e-02 2.21269269e+02] [ 5.80442790e-01 8.12877389e-01 4.81302231e-02 -4.25274951e+01] [-8.42465421e-02 1.15787824e-03 9.96444268e-01 -2.64585482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.40629675700004 meters 0.07321089743772981 Centerline is valid? [True, True] Translation: X:221.29, Y:-42.51, Z:-26.46 [[ 8.12714777e-01 -5.78524772e-01 6.93092994e-02 2.21289742e+02] [ 5.76510297e-01 8.15664469e-01 4.82426295e-02 -4.25075931e+01] [-8.44426891e-02 7.50026961e-04 9.96428055e-01 -2.64613366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.43629675700004 meters 0.07288384885790375 Centerline is valid? [True, True] Translation: X:221.31, Y:-42.48, Z:-26.46 [[ 8.15505609e-01 -5.74620498e-01 6.90064145e-02 2.21308932e+02] [ 5.72607766e-01 8.18419927e-01 4.80538072e-02 -4.24849742e+01] [-8.40889274e-02 3.25459615e-04 9.96458201e-01 -2.64631562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.46629675700004 meters 0.07309216500939293 Centerline is valid? [True, True] Translation: X:221.33, Y:-42.47, Z:-26.47 [[ 8.16303932e-01 -5.73608966e-01 6.79753270e-02 2.21329501e+02] [ 5.71650534e-01 8.19129242e-01 4.73598137e-02 -4.24670471e+01] [-8.28465919e-02 1.98129823e-04 9.96562293e-01 -2.64681814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.49629675700004 meters 0.0735284108226338 Centerline is valid? [True, True] Translation: X:221.35, Y:-42.45, Z:-26.47 [[ 8.17707394e-01 -5.71707586e-01 6.71196937e-02 2.21350429e+02] [ 5.69791083e-01 8.20457455e-01 4.67727080e-02 -4.24473583e+01] [-8.18091651e-02 -2.18618593e-06 9.96648012e-01 -2.64725700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.52629675700004 meters 0.07365996680209297 Centerline is valid? [True, True] Translation: X:221.37, Y:-42.43, Z:-26.48 [[ 8.17970828e-01 -5.71381497e-01 6.66851565e-02 2.21373403e+02] [ 5.69486821e-01 8.20684581e-01 4.64927791e-02 -4.24299712e+01] [-8.12925935e-02 -5.34191813e-05 9.96690279e-01 -2.64762434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.55629675700004 meters 0.0740864054715282 Centerline is valid? [True, True] Translation: X:221.40, Y:-42.41, Z:-26.48 [[ 8.16998201e-01 -5.72842721e-01 6.60693387e-02 2.21397112e+02] [ 5.70985900e-01 8.19665305e-01 4.60856797e-02 -4.24141757e+01] [-8.05545908e-02 7.27433736e-05 9.96750196e-01 -2.64799072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.58629675700004 meters 0.0742086205566349 Centerline is valid? [True, True] Translation: X:221.42, Y:-42.40, Z:-26.48 [[ 8.16625370e-01 -5.73369194e-01 6.61118227e-02 2.21420356e+02] [ 5.71509978e-01 8.19297111e-01 4.61366301e-02 -4.23984260e+01] [-8.06185478e-02 1.07223712e-04 9.96745022e-01 -2.64830869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.61629675700004 meters 0.07422630225863083 Centerline is valid? [True, True] Translation: X:221.44, Y:-42.38, Z:-26.49 [[ 8.15421549e-01 -5.74960823e-01 6.71397785e-02 2.21444414e+02] [ 5.73046282e-01 8.18180904e-01 4.68824714e-02 -4.23846619e+01] [-8.18880690e-02 2.45222999e-04 9.96641502e-01 -2.64854056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64629675700002 meters 0.07434840433218674 Centerline is valid? [True, True] Translation: X:221.47, Y:-42.37, Z:-26.49 [[ 8.14664723e-01 -5.76026717e-01 6.71908501e-02 2.21467878e+02] [ 5.74111501e-01 8.17430796e-01 4.69348252e-02 -4.23692532e+01] [-8.19595834e-02 3.38893422e-04 9.96635596e-01 -2.64869554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67629675700002 meters 0.07457908272026073 Centerline is valid? [True, True] Translation: X:221.49, Y:-42.35, Z:-26.49 [[ 8.14602404e-01 -5.76073196e-01 6.75469948e-02 2.21489990e+02] [ 5.74135488e-01 8.17398048e-01 4.72109398e-02 -4.23533452e+01] [-8.24097387e-02 3.22981786e-04 9.96598480e-01 -2.64900412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70629675700002 meters 0.0747194764927975 Centerline is valid? [True, True] Translation: X:221.51, Y:-42.33, Z:-26.49 [[ 8.15141491e-01 -5.75324405e-01 6.74253504e-02 2.21511665e+02] [ 5.73389459e-01 8.17925287e-01 4.71460827e-02 -4.23345464e+01] [-8.22731911e-02 2.30257041e-04 9.96609788e-01 -2.64914030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73629675700002 meters 0.07483544954262743 Centerline is valid? [True, True] Translation: X:221.53, Y:-42.32, Z:-26.49 [[ 8.15271902e-01 -5.75168419e-01 6.71789835e-02 2.21533615e+02] [ 5.73244921e-01 8.18034995e-01 4.70000824e-02 -4.23177568e+01] [-8.19877226e-02 1.92164529e-04 9.96633321e-01 -2.64948774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76629675700002 meters 0.07523785211455163 Centerline is valid? [True, True] Translation: X:221.56, Y:-42.30, Z:-26.50 [[ 8.15284045e-01 -5.75163557e-01 6.70731656e-02 2.21555201e+02] [ 5.73243679e-01 8.18038419e-01 4.69556100e-02 -4.23023921e+01] [-8.18755820e-02 1.67108500e-04 9.96642544e-01 -2.65036065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79629675700002 meters 0.07537572581436991 Centerline is valid? [True, True] Translation: X:221.58, Y:-42.29, Z:-26.50 [[ 8.14592841e-01 -5.76222569e-01 6.63781259e-02 2.21579102e+02] [ 5.74344883e-01 8.17292777e-01 4.64808798e-02 -4.22853525e+01] [-8.10336948e-02 2.60945003e-04 9.96711328e-01 -2.65032766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82629675700002 meters 0.07586858970725348 Centerline is valid? [True, True] Translation: X:221.60, Y:-42.27, Z:-26.51 [[ 8.13416442e-01 -5.77809950e-01 6.70026390e-02 2.21603007e+02] [ 5.75899782e-01 8.16171245e-01 4.69461326e-02 -4.22721218e+01] [-8.18115698e-02 4.00049114e-04 9.96647735e-01 -2.65090184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85629675700002 meters 0.07599882952591583 Centerline is valid? [True, True] Translation: X:221.63, Y:-42.26, Z:-26.51 [[ 8.12374560e-01 -5.79236678e-01 6.73234370e-02 2.21627608e+02] [ 5.77312764e-01 8.15159233e-01 4.71741152e-02 -4.22585614e+01] [-8.22042991e-02 5.43628438e-04 9.96615351e-01 -2.65122164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.88629675700003 meters 0.07592280658141762 Centerline is valid? [True, True] Translation: X:221.66, Y:-42.25, Z:-26.51 [[ 8.09833099e-01 -5.82655673e-01 6.84303892e-02 2.21655632e+02] [ 5.80677798e-01 8.12718639e-01 4.79761204e-02 -4.22486694e+01] [-8.35682115e-02 8.83357481e-04 9.96501668e-01 -2.65140251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.91629675700003 meters 0.07604242873922222 Centerline is valid? [True, True] Translation: X:221.68, Y:-42.24, Z:-26.52 [[ 8.08070053e-01 -5.84870673e-01 7.03497373e-02 2.21679476e+02] [ 5.82785884e-01 8.11125788e-01 4.93514997e-02 -4.22358101e+01] [-8.59267309e-02 1.11936481e-03 9.96300830e-01 -2.65172792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.94629675700003 meters 0.07615011838272877 Centerline is valid? [True, True] Translation: X:221.70, Y:-42.22, Z:-26.52 [[ 8.07761910e-01 -5.85179475e-01 7.13139442e-02 2.21702942e+02] [ 5.83036268e-01 8.10902991e-01 5.00504781e-02 -4.22205053e+01] [-8.71172031e-02 1.14974609e-03 9.96197406e-01 -2.65194439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.97629675700003 meters 0.07621877990668564 Centerline is valid? [True, True] Translation: X:221.73, Y:-42.20, Z:-26.52 [[ 8.07732520e-01 -5.85006271e-01 7.30468300e-02 2.21727358e+02] [ 5.82755146e-01 8.11027961e-01 5.12843657e-02 -4.22041842e+01] [-8.92446971e-02 1.14436615e-03 9.96009073e-01 -2.65217762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.00629675700003 meters 0.07614115069622925 Centerline is valid? [True, True] Translation: X:221.75, Y:-42.19, Z:-26.53 [[ 8.09106501e-01 -5.83085263e-01 7.32000488e-02 2.21748797e+02] [ 5.80815725e-01 8.12410439e-01 5.14040010e-02 -4.21874742e+01] [-8.94413992e-02 9.24428093e-04 9.95991657e-01 -2.65277094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.03629675700003 meters 0.07614008797140083 Centerline is valid? [True, True] Translation: X:221.77, Y:-42.17, Z:-26.53 [[ 8.09287624e-01 -5.82714896e-01 7.41410190e-02 2.21771030e+02] [ 5.80382737e-01 8.12676187e-01 5.20892923e-02 -4.21707679e+01] [-9.06058471e-02 8.74947882e-04 9.95886447e-01 -2.65311851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.06629675700003 meters 0.07608323090450228 Centerline is valid? [True, True] Translation: X:221.79, Y:-42.15, Z:-26.53 [[ 8.09933269e-01 -5.81741589e-01 7.47316733e-02 2.21793669e+02] [ 5.79365222e-01 8.13373323e-01 5.25335698e-02 -4.21538609e+01] [-9.13457118e-02 7.48246609e-04 9.95818960e-01 -2.65347967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.09629675700003 meters 0.07574670136208685 Centerline is valid? [True, True] Translation: X:221.81, Y:-42.13, Z:-26.54 [[ 8.11738679e-01 -5.78992969e-01 7.64686776e-02 2.21814586e+02] [ 5.76490910e-01 8.15332418e-01 5.37706080e-02 -4.21343776e+01] [-9.34801958e-02 4.35815273e-04 9.95621044e-01 -2.65370580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.12629675700003 meters 0.07570911488695725 Centerline is valid? [True, True] Translation: X:221.84, Y:-42.12, Z:-26.54 [[ 8.12452055e-01 -5.77844159e-01 7.75743884e-02 2.21835747e+02] [ 5.75261399e-01 8.16147073e-01 5.45735956e-02 -4.21174139e+01] [-9.48471435e-02 2.87121300e-04 9.95491807e-01 -2.65403643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.15629675700004 meters 0.07551232105733521 Centerline is valid? [True, True] Translation: X:221.86, Y:-42.10, Z:-26.54 [[ 8.14167208e-01 -5.75185193e-01 7.93331621e-02 2.21855817e+02] [ 5.72468183e-01 8.18023222e-01 5.58407356e-02 -4.20983101e+01] [-9.70151331e-02 -4.79846149e-05 9.95282905e-01 -2.65418463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.18629675700004 meters 0.07551232105733521 Centerline is valid? [True, True] Translation: X:221.88, Y:-42.08, Z:-26.54 [[ 8.14025390e-01 -5.75387229e-01 7.93233952e-02 2.21878203e+02] [ 5.72669825e-01 8.17881125e-01 5.58546061e-02 -4.20823436e+01] [-9.70151348e-02 -4.09527184e-05 9.95282905e-01 -2.65447781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.21629675700004 meters 0.07529502476135215 Centerline is valid? [True, True] Translation: X:221.90, Y:-42.06, Z:-26.55 [[ 8.15257206e-01 -5.73626281e-01 7.94265614e-02 2.21899896e+02] [ 5.70890467e-01 8.19117094e-01 5.59576699e-02 -4.20642648e+01] [-9.71584442e-02 -2.76026911e-04 9.95268889e-01 -2.65467457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.24629675700004 meters 0.07531220370158344 Centerline is valid? [True, True] Translation: X:221.92, Y:-42.04, Z:-26.55 [[ 8.16723517e-01 -5.71483728e-01 7.98063016e-02 2.21918814e+02] [ 5.68709459e-01 8.20613214e-01 5.62450419e-02 -4.20445913e+01] [-9.76332318e-02 -5.50049841e-04 9.95222312e-01 -2.65523765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.27629675700004 meters 0.07519592958802543 Centerline is valid? [True, True] Translation: X:221.94, Y:-42.03, Z:-26.55 [[ 8.16752659e-01 -5.71428449e-01 7.99038278e-02 2.21941448e+02] [ 5.68645142e-01 8.20651691e-01 5.63338616e-02 -4.20275937e+01] [-9.77639826e-02 -5.73907756e-04 9.95209463e-01 -2.65547205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.30629675700004 meters 0.07520977515760437 Centerline is valid? [True, True] Translation: X:221.96, Y:-42.01, Z:-26.56 [[ 8.17567028e-01 -5.70334592e-01 7.93889674e-02 2.21963568e+02] [ 5.67578903e-01 8.21412153e-01 5.60023470e-02 -4.20093737e+01] [-9.71511383e-02 -7.26169324e-04 9.95269375e-01 -2.65569610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.33629675700004 meters 0.07515763180907759 Centerline is valid? [True, True] Translation: X:221.99, Y:-41.99, Z:-26.56 [[ 8.17668349e-01 -5.70309274e-01 7.85226219e-02 2.21985230e+02] [ 5.67610544e-01 8.21429714e-01 5.54210683e-02 -4.19923524e+01] [-9.61079641e-02 -7.45785345e-04 9.95370636e-01 -2.65607063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.36629675700004 meters 0.07496045459213095 Centerline is valid? [True, True] Translation: X:222.01, Y:-41.98, Z:-26.57 [[ 8.16117098e-01 -5.72644867e-01 7.76578313e-02 2.22007064e+02] [ 5.70014602e-01 8.19803409e-01 5.48244936e-02 -4.19774845e+01] [-9.50591196e-02 -4.77108816e-04 9.95471514e-01 -2.65665473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39629675700002 meters 0.07483189618544968 Centerline is valid? [True, True] Translation: X:222.03, Y:-41.96, Z:-26.57 [[ 8.14735528e-01 -5.74613680e-01 7.76217681e-02 2.22031051e+02] [ 5.71993413e-01 8.18424738e-01 5.48131721e-02 -4.19632919e+01] [-9.50239738e-02 -2.59098632e-04 9.95474951e-01 -2.65682868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42629675700002 meters 0.07461721994168607 Centerline is valid? [True, True] Translation: X:222.06, Y:-41.95, Z:-26.57 [[ 8.12717748e-01 -5.77432020e-01 7.78596425e-02 2.22055226e+02] [ 5.74805410e-01 8.16438767e-01 5.50134517e-02 -4.19492850e+01] [-9.53341591e-02 4.37351973e-05 9.95445326e-01 -2.65701387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45629675700002 meters 0.07435536693121403 Centerline is valid? [True, True] Translation: X:222.08, Y:-41.94, Z:-26.57 [[ 8.08539010e-01 -5.83188622e-01 7.84582683e-02 2.22083118e+02] [ 5.80545082e-01 8.12336471e-01 5.54694985e-02 -4.19378956e+01] [-9.60836932e-02 6.99308391e-04 9.95373013e-01 -2.65725776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48629675700002 meters 0.07443311704862451 Centerline is valid? [True, True] Translation: X:222.11, Y:-41.93, Z:-26.57 [[ 8.03464609e-01 -5.90141790e-01 7.85957440e-02 2.22110409e+02] [ 5.87519246e-01 8.07298206e-01 5.55944418e-02 -4.19279913e+01] [-9.62588065e-02 1.50834589e-03 9.95355196e-01 -2.65742100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51629675700002 meters 0.07484784653327661 Centerline is valid? [True, True] Translation: X:222.14, Y:-41.91, Z:-26.58 [[ 8.01312128e-01 -5.93014711e-01 7.89457167e-02 2.22136016e+02] [ 5.90379865e-01 8.05189525e-01 5.58698813e-02 -4.19140920e+01] [-9.66979256e-02 1.83874811e-03 9.95312077e-01 -2.65768825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54629675700002 meters 0.07513866509908824 Centerline is valid? [True, True] Translation: X:222.16, Y:-41.90, Z:-26.58 [[ 7.98474112e-01 -5.96936309e-01 7.81417709e-02 2.22160627e+02] [ 5.94370944e-01 8.02285427e-01 5.53287916e-02 -4.19000861e+01] [-9.57197687e-02 2.26659042e-03 9.95405741e-01 -2.65789302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57629675700002 meters 0.07614223519787716 Centerline is valid? [True, True] Translation: X:222.19, Y:-41.89, Z:-26.58 [[ 7.94098646e-01 -6.02883776e-01 7.70616245e-02 2.22187140e+02] [ 6.00415400e-01 7.97823650e-01 5.45781139e-02 -4.18885392e+01] [-9.43858459e-02 2.92857982e-03 9.95531383e-01 -2.65823091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60629675700002 meters 0.07670884649171607 Centerline is valid? [True, True] Translation: X:222.21, Y:-41.87, Z:-26.59 [[ 7.92393011e-01 -6.05175844e-01 7.66518988e-02 2.22211312e+02] [ 6.02741644e-01 7.96085552e-01 5.43167130e-02 -4.18746000e+01] [-9.38926318e-02 3.16110769e-03 9.95577310e-01 -2.65858407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.63629675700003 meters 0.07686090443557889 Centerline is valid? [True, True] Translation: X:222.24, Y:-41.86, Z:-26.59 [[ 7.90419990e-01 -6.07933818e-01 7.51845224e-02 2.22235010e+02] [ 6.05602171e-01 7.93980420e-01 5.33020017e-02 -4.18596941e+01] [-9.20991280e-02 3.40094234e-03 9.95744035e-01 -2.65902094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.66629675700003 meters 0.07724244814586416 Centerline is valid? [True, True] Translation: X:222.26, Y:-41.84, Z:-26.59 [[ 7.88683900e-01 -6.10296155e-01 7.42718522e-02 2.22259970e+02] [ 6.08028779e-01 7.92165117e-01 5.26823615e-02 -4.18449417e+01] [-9.09874132e-02 3.60969326e-03 9.95845500e-01 -2.65946062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.69629675700003 meters 0.07811745586851573 Centerline is valid? [True, True] Translation: X:222.29, Y:-41.83, Z:-26.60 [[ 7.85620315e-01 -6.14389563e-01 7.29807195e-02 2.22285985e+02] [ 6.12215810e-01 7.88992730e-01 5.17906758e-02 -4.18325502e+01] [-8.94009077e-02 3.99214322e-03 9.95987721e-01 -2.65986355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.72629675700003 meters 0.07778726493380535 Centerline is valid? [True, True] Translation: X:222.31, Y:-41.82, Z:-26.60 [[ 7.84145124e-01 -6.16222335e-01 7.33924997e-02 2.22309125e+02] [ 6.14029381e-01 7.87561027e-01 5.21109154e-02 -4.18157804e+01] [-8.99129824e-02 4.20263094e-03 9.95940758e-01 -2.66006578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.75629675700003 meters 0.07955942645288934 Centerline is valid? [True, True] Translation: X:222.34, Y:-41.81, Z:-26.60 [[ 7.81260159e-01 -6.19817911e-01 7.38804527e-02 2.22335105e+02] [ 6.17609141e-01 7.84732032e-01 5.24841501e-02 -4.18059158e+01] [-9.05069740e-02 4.62546752e-03 9.95885080e-01 -2.66044636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.78629675700003 meters 0.0800305465903007 Centerline is valid? [True, True] Translation: X:222.36, Y:-41.79, Z:-26.61 [[ 7.76934959e-01 -6.25300967e-01 7.32855390e-02 2.22361286e+02] [ 6.23150154e-01 7.80366327e-01 5.20795711e-02 -4.17932328e+01] [-8.97549731e-02 5.20545541e-03 9.95950274e-01 -2.66055082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.81629675700003 meters 0.08096118174258643 Centerline is valid? [True, True] Translation: X:222.39, Y:-41.78, Z:-26.61 [[ 7.74474693e-01 -6.28216700e-01 7.43823161e-02 2.22386982e+02] [ 6.26012975e-01 7.78018150e-01 5.28726239e-02 -4.17802305e+01] [-9.10862572e-02 5.61578584e-03 9.95827172e-01 -2.66079571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.84629675700003 meters 0.08153166261310715 Centerline is valid? [True, True] Translation: X:222.41, Y:-41.77, Z:-26.61 [[ 7.72730776e-01 -6.30180023e-01 7.58965517e-02 2.22411916e+02] [ 6.27892170e-01 7.76426302e-01 5.39779624e-02 -4.17653982e+01] [-9.29439125e-02 5.94441779e-03 9.95653601e-01 -2.66090975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.87629675700003 meters 0.08182349917781154 Centerline is valid? [True, True] Translation: X:222.44, Y:-41.75, Z:-26.61 [[ 7.71414745e-01 -6.31784291e-01 7.59466962e-02 2.22435795e+02] [ 6.29498735e-01 7.75120076e-01 5.40389711e-02 -4.17500805e+01] [-9.30087819e-02 6.12189010e-03 9.95646468e-01 -2.66110885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.90629675700004 meters 0.08228189203582552 Centerline is valid? [True, True] Translation: X:222.46, Y:-41.73, Z:-26.61 [[ 7.69228255e-01 -6.34389666e-01 7.64044725e-02 2.22459921e+02] [ 6.32086508e-01 7.72986480e-01 5.43925454e-02 -4.17349088e+01] [-9.35656929e-02 6.45395339e-03 9.95592189e-01 -2.66140897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.93629675700004 meters 0.08313196646057743 Centerline is valid? [True, True] Translation: X:222.48, Y:-41.72, Z:-26.62 [[ 7.69759637e-01 -6.33735278e-01 7.64833255e-02 2.22482542e+02] [ 6.31421269e-01 7.73523874e-01 5.44793359e-02 -4.17193694e+01] [-9.36871553e-02 6.35720459e-03 9.95581389e-01 -2.66183568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.96629675700004 meters 0.08318372705346701 Centerline is valid? [True, True] Translation: X:222.51, Y:-41.70, Z:-26.62 [[ 7.69043520e-01 -6.34714252e-01 7.55637616e-02 2.22505677e+02] [ 6.32459744e-01 7.72720485e-01 5.38305215e-02 -4.17025219e+01] [-9.25566657e-02 6.39302357e-03 9.95686895e-01 -2.66225211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.99629675700004 meters 0.08423098571506585 Centerline is valid? [True, True] Translation: X:222.53, Y:-41.69, Z:-26.63 [[ 7.68503902e-01 -6.35604649e-01 7.35423858e-02 2.22528964e+02] [ 6.33471145e-01 7.71988969e-01 5.24150826e-02 -4.16882402e+01] [-9.00891807e-02 6.30578381e-03 9.95913740e-01 -2.66281197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.02629675700004 meters 0.08405021808579764 Centerline is valid? [True, True] Translation: X:222.55, Y:-41.67, Z:-26.63 [[ 7.68233696e-01 -6.36130689e-01 7.17964799e-02 2.22551547e+02] [ 6.34097371e-01 7.71556462e-01 5.11971768e-02 -4.16711015e+01] [-8.79631334e-02 6.19456282e-03 9.96104470e-01 -2.66322998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.05629675700004 meters 0.08675017708369923 Centerline is valid? [True, True] Translation: X:222.58, Y:-41.66, Z:-26.64 [[ 7.67789764e-01 -6.36669132e-01 7.17725156e-02 2.22576930e+02] [ 6.34637279e-01 7.71111889e-01 5.12052617e-02 -4.16594834e+01] [-8.79454496e-02 6.23463826e-03 9.96105781e-01 -2.66375816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.08629675700004 meters 0.08538421698784757 Centerline is valid? [True, True] Translation: X:222.60, Y:-41.64, Z:-26.64 [[ 7.67704013e-01 -6.36871493e-01 7.08889926e-02 2.22598831e+02] [ 6.34888218e-01 7.70945350e-01 5.05985990e-02 -4.16407249e+01] [-8.68763446e-02 6.16183866e-03 9.96200046e-01 -2.66399878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.11629675700004 meters 0.08499984520241613 Centerline is valid? [True, True] Translation: X:222.62, Y:-41.62, Z:-26.64 [[ 7.66850123e-01 -6.37881528e-01 7.10495933e-02 2.22620594e+02] [ 6.35891061e-01 7.70108992e-01 5.07414907e-02 -4.16245560e+01] [-8.70829903e-02 6.26868287e-03 9.96181337e-01 -2.66421065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14629675700002 meters 0.08565286738759953 Centerline is valid? [True, True] Translation: X:222.64, Y:-41.61, Z:-26.64 [[ 7.66155623e-01 -6.38628985e-01 7.18232634e-02 2.22643813e+02] [ 6.36597232e-01 7.69488050e-01 5.13040359e-02 -4.16097842e+01] [-8.80313872e-02 6.41561512e-03 9.96097041e-01 -2.66430973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17629675700002 meters 0.08667438680873453 Centerline is valid? [True, True] Translation: X:222.67, Y:-41.60, Z:-26.65 [[ 7.66050031e-01 -6.38732802e-01 7.20260876e-02 2.22667634e+02] [ 6.36687756e-01 7.69401787e-01 5.14741810e-02 -4.15969838e+01] [-8.82952484e-02 6.42633013e-03 9.96073617e-01 -2.66457727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20629675700002 meters 0.08681579921663148 Centerline is valid? [True, True] Translation: X:222.69, Y:-41.58, Z:-26.65 [[ 7.65302279e-01 -6.39531944e-01 7.28787661e-02 2.22691200e+02] [ 6.37440028e-01 7.68736347e-01 5.21021962e-02 -4.15816996e+01] [-8.93455753e-02 6.58191318e-03 9.95978939e-01 -2.66478685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23629675700002 meters 0.08504445065885873 Centerline is valid? [True, True] Translation: X:222.71, Y:-41.56, Z:-26.65 [[ 7.65721687e-01 -6.38939666e-01 7.36641058e-02 2.22711981e+02] [ 6.36797402e-01 7.69228841e-01 5.26883131e-02 -4.15618008e+01] [-9.03292080e-02 6.56452722e-03 9.95890326e-01 -2.66476405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26629675700002 meters 0.08476353674439424 Centerline is valid? [True, True] Translation: X:222.73, Y:-41.54, Z:-26.65 [[ 7.66161487e-01 -6.38374902e-01 7.39868937e-02 2.22734055e+02] [ 6.36208686e-01 7.69698099e-01 5.29466229e-02 -4.15448933e+01] [-9.07473666e-02 6.50544104e-03 9.95852697e-01 -2.66496833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29629675700002 meters 0.08411502918216995 Centerline is valid? [True, True] Translation: X:222.76, Y:-41.53, Z:-26.65 [[ 7.68648363e-01 -6.35400086e-01 7.37998990e-02 2.22755605e+02] [ 6.33228722e-01 7.72158866e-01 5.28400446e-02 -4.15281432e+01] [-9.05598152e-02 6.11680194e-03 9.95872233e-01 -2.66535762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32629675700002 meters 0.08092668784034839 Centerline is valid? [True, True] Translation: X:222.77, Y:-41.51, Z:-26.66 [[ 7.69812818e-01 -6.34063629e-01 7.31542156e-02 2.22773408e+02] [ 6.31921774e-01 7.73258473e-01 5.24042499e-02 -4.15052915e+01] [-8.97947459e-02 5.88627841e-03 9.95942898e-01 -2.66560531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35629675700002 meters 0.08017270728339937 Centerline is valid? [True, True] Translation: X:222.79, Y:-41.49, Z:-26.66 [[ 7.72692857e-01 -6.30690319e-01 7.19407436e-02 2.22794551e+02] [ 6.28601848e-01 7.76015976e-01 5.15647383e-02 -4.14869524e+01] [-8.83485476e-02 5.37837942e-03 9.96075101e-01 -2.66616205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.38629675700003 meters 0.07979966090948615 Centerline is valid? [True, True] Translation: X:222.82, Y:-41.47, Z:-26.67 [[ 7.74332003e-01 -6.28733746e-01 7.14410639e-02 2.22816558e+02] [ 6.26664658e-01 7.77603879e-01 5.12212275e-02 -4.14692052e+01] [-8.77573626e-02 5.10735417e-03 9.96128787e-01 -2.66661903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.41629675700003 meters 0.0800007409437229 Centerline is valid? [True, True] Translation: X:222.84, Y:-41.45, Z:-26.67 [[ 7.74700587e-01 -6.28378504e-01 7.05652621e-02 2.22838730e+02] [ 6.26356238e-01 7.77891772e-01 5.06187063e-02 -4.14516974e+01] [-8.66998438e-02 4.98465067e-03 9.96222009e-01 -2.66702642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.44629675700003 meters 0.08035956292094343 Centerline is valid? [True, True] Translation: X:222.86, Y:-41.44, Z:-26.67 [[ 7.75541276e-01 -6.27270451e-01 7.11864524e-02 2.22861396e+02] [ 6.25205128e-01 7.78786210e-01 5.10939093e-02 -4.14365582e+01] [-8.74887269e-02 4.88069945e-03 9.96153553e-01 -2.66749757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.47629675700003 meters 0.07943408706083327 Centerline is valid? [True, True] Translation: X:222.88, Y:-41.42, Z:-26.68 [[ 7.75885432e-01 -6.26827570e-01 7.13371899e-02 2.22882919e+02] [ 6.24750317e-01 7.79143038e-01 5.12168734e-02 -4.14183127e+01] [-8.76860232e-02 4.82950612e-03 9.96136455e-01 -2.66771820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.50629675700003 meters 0.08060398843504285 Centerline is valid? [True, True] Translation: X:222.91, Y:-41.41, Z:-26.68 [[ 7.75795538e-01 -6.26919984e-01 7.15025695e-02 2.22906488e+02] [ 6.24831070e-01 7.79068678e-01 5.13627214e-02 -4.14053291e+01] [-8.79057288e-02 4.83005696e-03 9.96117088e-01 -2.66803903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.53629675700003 meters 0.0814489811929261 Centerline is valid? [True, True] Translation: X:222.93, Y:-41.39, Z:-26.68 [[ 7.75974641e-01 -6.26702237e-01 7.14679094e-02 2.22929796e+02] [ 6.24611863e-01 7.79244156e-01 5.13669699e-02 -4.13913632e+01] [-8.78827457e-02 4.78023797e-03 9.96119356e-01 -2.66832674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.56629675700003 meters 0.0820932072652869 Centerline is valid? [True, True] Translation: X:222.95, Y:-41.38, Z:-26.69 [[ 7.74982181e-01 -6.27764998e-01 7.28953153e-02 2.22953729e+02] [ 6.25592939e-01 7.78386971e-01 5.24137298e-02 -4.13769082e+01] [-8.96442686e-02 4.98308785e-03 9.95961382e-01 -2.66859247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.59629675700003 meters 0.08124006031874684 Centerline is valid? [True, True] Translation: X:222.97, Y:-41.36, Z:-26.69 [[ 7.75082008e-01 -6.27599177e-01 7.32608590e-02 2.22974769e+02] [ 6.25402193e-01 7.78520765e-01 5.27021411e-02 -4.13585662e+01] [-9.01109203e-02 4.96902051e-03 9.95919340e-01 -2.66885288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.62629675700003 meters 0.084168808925398 Centerline is valid? [True, True] Translation: X:223.00, Y:-41.35, Z:-26.69 [[ 7.87901105e-01 -6.10566634e-01 8.01263625e-02 2.23002840e+02] [ 6.07845388e-01 7.91958166e-01 5.76736277e-02 -4.13516573e+01] [-9.86703198e-02 3.26332494e-03 9.95114827e-01 -2.66932671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.65629675700004 meters 0.08030762097439728 Centerline is valid? [True, True] Translation: X:223.02, Y:-41.32, Z:-26.69 [[ 7.76664851e-01 -6.25786552e-01 7.19923645e-02 2.23017308e+02] [ 6.23652481e-01 7.79980597e-01 5.18444865e-02 -4.13232335e+01] [-8.85962299e-02 4.63242636e-03 9.96056850e-01 -2.66941844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.68629675700004 meters 0.08028112900876443 Centerline is valid? [True, True] Translation: X:223.04, Y:-41.31, Z:-26.70 [[ 7.77276487e-01 -6.25117580e-01 7.11988281e-02 2.23039934e+02] [ 6.23025572e-01 7.80517695e-01 5.12958541e-02 -4.13058163e+01] [-8.76378854e-02 4.48762933e-03 9.96142290e-01 -2.66976721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.71629675700004 meters 0.07846097820983386 Centerline is valid? [True, True] Translation: X:223.06, Y:-41.29, Z:-26.70 [[ 7.78480965e-01 -6.23741866e-01 7.00961604e-02 2.23060113e+02] [ 6.21706649e-01 7.81618867e-01 5.05251376e-02 -4.12851371e+01] [-8.63031250e-02 4.24639114e-03 9.96259875e-01 -2.66992349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.74629675700004 meters 0.07716889959419765 Centerline is valid? [True, True] Translation: X:223.08, Y:-41.26, Z:-26.70 [[ 7.79078635e-01 -6.23070369e-01 6.94247485e-02 2.23080861e+02] [ 6.21069106e-01 7.82154981e-01 5.00674714e-02 -4.12647186e+01] [-8.54964707e-02 4.11106916e-03 9.96329992e-01 -2.67016792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.77629675700004 meters 0.0776601367966023 Centerline is valid? [True, True] Translation: X:223.10, Y:-41.25, Z:-26.71 [[ 7.79952197e-01 -6.22013042e-01 6.90966470e-02 2.23103726e+02] [ 6.20024099e-01 7.82996900e-01 4.98595166e-02 -4.12489657e+01] [-8.51157300e-02 3.95354680e-03 9.96363228e-01 -2.67059998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.80629675700004 meters 0.07683490931387545 Centerline is valid? [True, True] Translation: X:223.12, Y:-41.23, Z:-26.71 [[ 7.82347523e-01 -6.19213655e-01 6.71327243e-02 2.23124135e+02] [ 6.17325514e-01 7.85214573e-01 4.84487829e-02 -4.12287288e+01] [-8.27137414e-02 3.53895826e-03 9.96567064e-01 -2.67099983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.83629675700004 meters 0.07911570968724092 Centerline is valid? [True, True] Translation: X:223.15, Y:-41.22, Z:-26.72 [[ 7.82999285e-01 -6.18259914e-01 6.83139610e-02 2.23149506e+02] [ 6.16299835e-01 7.85965974e-01 4.93153272e-02 -4.12184908e+01] [-8.41821388e-02 3.48801693e-03 9.96444279e-01 -2.67174241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.86629675700004 meters 0.07604432336270052 Centerline is valid? [True, True] Translation: X:223.17, Y:-41.19, Z:-26.72 [[ 7.85531275e-01 -6.15021937e-01 6.84735952e-02 2.23166158e+02] [ 6.13039234e-01 7.88503758e-01 4.94441246e-02 -4.11932631e+01] [-8.44009084e-02 3.13709412e-03 9.96426939e-01 -2.67166780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.89629675700002 meters 0.07592605217360379 Centerline is valid? [True, True] Translation: X:223.19, Y:-41.18, Z:-26.72 [[ 7.86265162e-01 -6.14058257e-01 6.86990024e-02 2.23188779e+02] [ 6.12056490e-01 7.89254917e-01 4.96339516e-02 -4.11752362e+01] [-8.46991632e-02 3.02222325e-03 9.96401986e-01 -2.67199769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92629675700002 meters 0.07549557173513731 Centerline is valid? [True, True] Translation: X:223.21, Y:-41.16, Z:-26.72 [[ 7.88085641e-01 -6.11542046e-01 7.02662674e-02 2.23209714e+02] [ 6.09435521e-01 7.91207001e-01 5.07920027e-02 -4.11558088e+01] [-8.66566080e-02 2.79431126e-03 9.96234322e-01 -2.67212397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95629675700002 meters 0.07495720596818795 Centerline is valid? [True, True] Translation: X:223.23, Y:-41.14, Z:-26.72 [[ 7.89215611e-01 -6.10015217e-01 7.08530569e-02 2.23231548e+02] [ 6.07865688e-01 7.92385317e-01 5.12329444e-02 -4.11367540e+01] [-8.73957977e-02 2.63530270e-03 9.96170181e-01 -2.67240574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98629675700002 meters 0.07464597616814075 Centerline is valid? [True, True] Translation: X:223.25, Y:-41.12, Z:-26.73 [[ 7.90228870e-01 -6.08698545e-01 7.08831009e-02 2.23252866e+02] [ 6.06540972e-01 7.93397706e-01 5.12652806e-02 -4.11176040e+01] [-8.74435913e-02 2.48220016e-03 9.96166380e-01 -2.67273100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01629675700002 meters 0.07465502788126754 Centerline is valid? [True, True] Translation: X:223.27, Y:-41.10, Z:-26.73 [[ 7.91633287e-01 -6.06746454e-01 7.19408118e-02 2.23273691e+02] [ 6.04513625e-01 7.94892156e-01 5.20551349e-02 -4.10993019e+01] [-8.87694555e-02 2.28062345e-03 9.96049588e-01 -2.67312695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04629675700002 meters 0.07467161346607262 Centerline is valid? [True, True] Translation: X:223.30, Y:-41.08, Z:-26.74 [[ 7.92267342e-01 -6.05882052e-01 7.22453976e-02 2.23296506e+02] [ 6.03624211e-01 7.95551522e-01 5.23028449e-02 -4.10814924e+01] [-8.91642910e-02 2.17123521e-03 9.96014566e-01 -2.67356018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07629675700002 meters 0.07487787849375001 Centerline is valid? [True, True] Translation: X:223.32, Y:-41.06, Z:-26.74 [[ 7.92398997e-01 -6.05733336e-01 7.20482824e-02 2.23318228e+02] [ 6.03485094e-01 7.95664873e-01 5.21838253e-02 -4.10639459e+01] [-8.89357701e-02 2.12965370e-03 9.96035086e-01 -2.67388756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10629675700002 meters 0.07487787849375001 Centerline is valid? [True, True] Translation: X:223.34, Y:-41.05, Z:-26.74 [[ 7.92246250e-01 -6.05934695e-01 7.20348795e-02 2.23340435e+02] [ 6.03685603e-01 7.95511541e-01 5.22023194e-02 -4.10477023e+01] [-8.89357744e-02 2.12932784e-03 9.96035087e-01 -2.67418036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.13629675700003 meters 0.07486832899178075 Centerline is valid? [True, True] Translation: X:223.36, Y:-41.03, Z:-26.75 [[ 7.92268911e-01 -6.05905341e-01 7.20325704e-02 2.23362981e+02] [ 6.03653787e-01 7.95533967e-01 5.22284671e-02 -4.10304946e+01] [-8.89498636e-02 2.10374318e-03 9.96033883e-01 -2.67452702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.16629675700003 meters 0.07514216141163903 Centerline is valid? [True, True] Translation: X:223.38, Y:-41.01, Z:-26.75 [[ 7.92384414e-01 -6.05793778e-01 7.16996448e-02 2.23384920e+02] [ 6.03560075e-01 7.95619042e-01 5.20151534e-02 -4.10145337e+01] [-8.85560589e-02 2.05904620e-03 9.96069066e-01 -2.67486020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.19629675700003 meters 0.0751870911220028 Centerline is valid? [True, True] Translation: X:223.41, Y:-40.99, Z:-26.75 [[ 7.92894934e-01 -6.05073060e-01 7.21402492e-02 2.23406633e+02] [ 6.02806544e-01 7.96167513e-01 5.23599289e-02 -4.09948180e+01] [-8.91173052e-02 1.97069192e-03 9.96019188e-01 -2.67511156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.22629675700003 meters 0.07541481631770995 Centerline is valid? [True, True] Translation: X:223.43, Y:-40.98, Z:-26.75 [[ 7.93152829e-01 -6.04775652e-01 7.17983362e-02 2.23429013e+02] [ 6.02527283e-01 7.96393600e-01 5.21354631e-02 -4.09776303e+01] [-8.87099942e-02 1.90906639e-03 9.96055667e-01 -2.67543709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.25629675700003 meters 0.07532124719523728 Centerline is valid? [True, True] Translation: X:223.45, Y:-40.96, Z:-26.76 [[ 7.94019451e-01 -6.03633358e-01 7.18323043e-02 2.23451080e+02] [ 6.01375628e-01 7.97260104e-01 5.21888876e-02 -4.09590380e+01] [-8.87719839e-02 1.75920528e-03 9.96050420e-01 -2.67596569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.28629675700003 meters 0.07537593890688175 Centerline is valid? [True, True] Translation: X:223.47, Y:-40.94, Z:-26.76 [[ 7.94635143e-01 -6.02860415e-01 7.15144025e-02 2.23472551e+02] [ 6.00617442e-01 7.97844978e-01 5.19815282e-02 -4.09415893e+01] [-8.83950125e-02 1.64644840e-03 9.96084139e-01 -2.67628820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.31629675700003 meters 0.07529007515095289 Centerline is valid? [True, True] Translation: X:223.49, Y:-40.92, Z:-26.77 [[ 7.95982440e-01 -6.00972225e-01 7.24178121e-02 2.23493233e+02] [ 5.98661487e-01 7.99268629e-01 5.26695683e-02 -4.09228113e+01] [-8.95342330e-02 1.42970356e-03 9.95982719e-01 -2.67661290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.34629675700003 meters 0.07526979121326777 Centerline is valid? [True, True] Translation: X:223.51, Y:-40.91, Z:-26.77 [[ 7.96336951e-01 -6.00523374e-01 7.22436042e-02 2.23514216e+02] [ 5.98221317e-01 7.99606028e-01 5.25495580e-02 -4.09061217e+01] [-8.93236592e-02 1.37050926e-03 9.96001710e-01 -2.67706033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.37629675700003 meters 0.07532973760643574 Centerline is valid? [True, True] Translation: X:223.54, Y:-40.89, Z:-26.77 [[ 7.96414428e-01 -6.00354886e-01 7.27878410e-02 2.23536574e+02] [ 5.98015668e-01 7.99732576e-01 5.29628822e-02 -4.08890973e+01] [-9.00073327e-02 1.34786584e-03 9.95940191e-01 -2.67735695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.40629675700004 meters 0.07538994435200663 Centerline is valid? [True, True] Translation: X:223.56, Y:-40.87, Z:-26.78 [[ 7.96835321e-01 -5.99719947e-01 7.34129172e-02 2.23557651e+02] [ 5.97334974e-01 8.00208965e-01 5.34466193e-02 -4.08727139e+01] [-9.07986781e-02 1.26394900e-03 9.95868466e-01 -2.67771185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.43629675700004 meters 0.07562730096459479 Centerline is valid? [True, True] Translation: X:223.58, Y:-40.86, Z:-26.78 [[ 7.96380005e-01 -6.00418641e-01 7.26384466e-02 2.23581934e+02] [ 5.98085243e-01 7.99684765e-01 5.28991376e-02 -4.08567948e+01] [-8.98494874e-02 1.31616750e-03 9.95954486e-01 -2.67807855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.46629675700004 meters 0.07582733372129781 Centerline is valid? [True, True] Translation: X:223.61, Y:-40.84, Z:-26.78 [[ 7.94077943e-01 -6.03499344e-01 7.23101805e-02 2.23608094e+02] [ 6.01197646e-01 7.97361811e-01 5.26833160e-02 -4.08432064e+01] [-8.94517232e-02 1.63805110e-03 9.95989812e-01 -2.67828793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.49629675700004 meters 0.07578930573893275 Centerline is valid? [True, True] Translation: X:223.63, Y:-40.83, Z:-26.78 [[ 7.93135163e-01 -6.04683731e-01 7.27612402e-02 2.23631474e+02] [ 6.02355900e-01 7.96463733e-01 5.30367078e-02 -4.08259797e+01] [-9.00221234e-02 1.76288440e-03 9.95938206e-01 -2.67838844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.52629675700004 meters 0.07689995462048282 Centerline is valid? [True, True] Translation: X:223.66, Y:-40.82, Z:-26.79 [[ 7.91441440e-01 -6.06884704e-01 7.28793794e-02 2.23659208e+02] [ 6.04556108e-01 7.94787379e-01 5.31501126e-02 -4.08172878e+01] [-9.01796014e-02 1.99447229e-03 9.95923522e-01 -2.67900461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.55629675700004 meters 0.07604475147679435 Centerline is valid? [True, True] Translation: X:223.68, Y:-40.80, Z:-26.79 [[ 7.90837660e-01 -6.07646930e-01 7.30821715e-02 2.23680222e+02] [ 6.05307026e-01 7.94204576e-01 5.33150610e-02 -4.07978887e+01] [-9.04389281e-02 2.07359379e-03 9.95899845e-01 -2.67895892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.58629675700004 meters 0.076524536238196 Centerline is valid? [True, True] Translation: X:223.70, Y:-40.78, Z:-26.79 [[ 7.89388186e-01 -6.09545657e-01 7.29409558e-02 2.23704198e+02] [ 6.07220165e-01 7.92747735e-01 5.32418936e-02 -4.07833644e+01] [-9.02771425e-02 2.26269743e-03 9.95914112e-01 -2.67940474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.61629675700004 meters 0.07672673599987469 Centerline is valid? [True, True] Translation: X:223.73, Y:-40.77, Z:-26.80 [[ 7.88193582e-01 -6.11111635e-01 7.27560732e-02 2.23727880e+02] [ 6.08802907e-01 7.91540718e-01 5.31254451e-02 -4.07672665e+01] [-9.00549721e-02 2.42097395e-03 9.95933854e-01 -2.67975774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64629675700002 meters 0.0771500809049837 Centerline is valid? [True, True] Translation: X:223.75, Y:-40.75, Z:-26.80 [[ 7.86844638e-01 -6.12835012e-01 7.28612645e-02 2.23751372e+02] [ 6.10524558e-01 7.90206608e-01 5.32285759e-02 -4.07519188e+01] [-9.01957876e-02 2.60097172e-03 9.95920657e-01 -2.68005250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67629675700002 meters 0.07748203518540042 Centerline is valid? [True, True] Translation: X:223.78, Y:-40.74, Z:-26.80 [[ 7.83072081e-01 -6.17614377e-01 7.31477766e-02 2.23775234e+02] [ 6.15304753e-01 7.86474772e-01 5.34555334e-02 -4.07361849e+01] [-9.05437869e-02 3.14863889e-03 9.95887498e-01 -2.68019271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70629675700002 meters 0.07893617751264333 Centerline is valid? [True, True] Translation: X:223.80, Y:-40.73, Z:-26.81 [[ 7.75782875e-01 -6.26594658e-01 7.44316176e-02 2.23802210e+02] [ 6.24241191e-01 7.79333773e-01 5.44224800e-02 -4.07259088e+01] [-9.21079085e-02 4.24325360e-03 9.95739990e-01 -2.68050169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73629675700002 meters 0.08164562371128609 Centerline is valid? [True, True] Translation: X:223.83, Y:-40.72, Z:-26.81 [[ 7.71555879e-01 -6.31710390e-01 7.51232842e-02 2.23829971e+02] [ 6.29333985e-01 7.75189158e-01 5.49591170e-02 -4.07183355e+01] [-9.29530007e-02 4.87360596e-03 9.95658570e-01 -2.68092813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76629675700002 meters 0.0815458320101279 Centerline is valid? [True, True] Translation: X:223.85, Y:-40.70, Z:-26.81 [[ 7.66487371e-01 -6.37810651e-01 7.54631246e-02 2.23853451e+02] [ 6.35440870e-01 7.70172638e-01 5.52178262e-02 -4.07018051e+01] [-9.33381514e-02 5.62858719e-03 9.95618556e-01 -2.68106055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79629675700002 meters 0.08902457866906364 Centerline is valid? [True, True] Translation: X:223.89, Y:-40.70, Z:-26.81 [[ 7.56428301e-01 -6.49675398e-01 7.57502576e-02 2.23888693e+02] [ 6.47342868e-01 7.60178700e-01 5.54576804e-02 -4.07037270e+01] [-9.36132230e-02 7.08663002e-03 9.95583419e-01 -2.68132701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82629675700002 meters 0.08601137541034992 Centerline is valid? [True, True] Translation: X:223.91, Y:-40.68, Z:-26.81 [[ 7.52874658e-01 -6.53728252e-01 7.62831620e-02 2.23907955e+02] [ 6.51381491e-01 7.56690930e-01 5.58658179e-02 -4.06821521e+01] [-9.42438403e-02 7.62948127e-03 9.95519909e-01 -2.68136526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85629675700002 meters 0.0870784004382665 Centerline is valid? [True, True] Translation: X:223.93, Y:-40.67, Z:-26.82 [[ 7.45670262e-01 -6.61880253e-01 7.67488808e-02 2.23933620e+02] [ 6.59545241e-01 7.49559158e-01 5.62240484e-02 -4.06688889e+01] [-9.47414139e-02 8.69475815e-03 9.95463945e-01 -2.68166450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.88629675700003 meters 0.08799227593515963 Centerline is valid? [True, True] Translation: X:223.96, Y:-40.66, Z:-26.82 [[ 7.41936232e-01 -6.66032316e-01 7.70167623e-02 2.23957998e+02] [ 6.63701192e-01 7.45865619e-01 5.64376376e-02 -4.06555284e+01] [-9.50334455e-02 9.24298872e-03 9.95431169e-01 -2.68208695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.91629675700003 meters 0.09006725778448618 Centerline is valid? [True, True] Translation: X:223.98, Y:-40.64, Z:-26.82 [[ 7.39797220e-01 -6.68386788e-01 7.71956907e-02 2.23982176e+02] [ 6.66055603e-01 7.43752533e-01 5.65871388e-02 -4.06427338e+01] [-9.52365864e-02 9.55361437e-03 9.95408821e-01 -2.68247225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.94629675700003 meters 0.0910750280944276 Centerline is valid? [True, True] Translation: X:224.01, Y:-40.63, Z:-26.83 [[ 7.40145614e-01 -6.68047832e-01 7.67890888e-02 2.24005552e+02] [ 6.65736332e-01 7.44058510e-01 5.63211295e-02 -4.06293912e+01] [-9.47607834e-02 9.43544936e-03 9.95455356e-01 -2.68284058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.97629675700003 meters 0.09146226002915842 Centerline is valid? [True, True] Translation: X:224.03, Y:-40.61, Z:-26.83 [[ 7.39715675e-01 -6.68523979e-01 7.67880769e-02 2.24029232e+02] [ 6.66213509e-01 7.43630110e-01 5.63366684e-02 -4.06131976e+01] [-9.47643398e-02 9.48413739e-03 9.95454555e-01 -2.68324310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.00629675700003 meters 0.09061855097117154 Centerline is valid? [True, True] Translation: X:224.05, Y:-40.60, Z:-26.84 [[ 7.40824118e-01 -6.67451689e-01 7.54179636e-02 2.24051542e+02] [ 6.65215157e-01 7.44596773e-01 5.53573889e-02 -4.05960512e+01] [-9.31043551e-02 9.15908367e-03 9.95614228e-01 -2.68363231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.03629675700003 meters 0.09072131918522136 Centerline is valid? [True, True] Translation: X:224.07, Y:-40.58, Z:-26.84 [[ 7.41844139e-01 -6.66371283e-01 7.49438943e-02 2.24074672e+02] [ 6.64154824e-01 7.45566424e-01 5.50370499e-02 -4.05801052e+01] [-9.25507608e-02 8.94543605e-03 9.95667784e-01 -2.68404923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.06629675700003 meters 0.09526691434014167 Centerline is valid? [True, True] Translation: X:224.10, Y:-40.57, Z:-26.84 [[ 7.44271978e-01 -6.63745494e-01 7.41696874e-02 2.24102677e+02] [ 6.61559305e-01 7.47910108e-01 5.44954742e-02 -4.05722035e+01] [-9.16433844e-02 8.50819250e-03 9.95755543e-01 -2.68439924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.09629675700003 meters 0.09147914717018399 Centerline is valid? [True, True] Translation: X:224.12, Y:-40.55, Z:-26.84 [[ 7.44815715e-01 -6.63084999e-01 7.46179324e-02 2.24121298e+02] [ 6.60866289e-01 7.48496343e-01 5.48541054e-02 -4.05490630e+01] [-9.22241839e-02 8.45627631e-03 9.95702361e-01 -2.68449914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.12629675700003 meters 0.0849160966052401 Centerline is valid? [True, True] Translation: X:224.14, Y:-40.52, Z:-26.84 [[ 7.48264467e-01 -6.58989619e-01 7.63738746e-02 2.24136225e+02] [ 6.56641418e-01 7.52108215e-01 5.61718960e-02 -4.05202624e+01] [-9.44581148e-02 8.11881544e-03 9.95495730e-01 -2.68434482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.15629675700004 meters 0.08482305196520769 Centerline is valid? [True, True] Translation: X:224.16, Y:-40.50, Z:-26.85 [[ 7.48459439e-01 -6.58738767e-01 7.66270473e-02 2.24159964e+02] [ 6.56370982e-01 7.52328212e-01 5.63861301e-02 -4.05041672e+01] [-9.47924193e-02 8.09303900e-03 9.95464163e-01 -2.68451620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.18629675700004 meters 0.08564691366129483 Centerline is valid? [True, True] Translation: X:224.18, Y:-40.49, Z:-26.85 [[ 7.48009030e-01 -6.59207384e-01 7.69942612e-02 2.24184411e+02] [ 6.56816692e-01 7.51916784e-01 5.66831766e-02 -4.04893241e+01] [-9.52592459e-02 8.17158800e-03 9.95418958e-01 -2.68486957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.21629675700004 meters 0.08683588212625847 Centerline is valid? [True, True] Translation: X:224.21, Y:-40.47, Z:-26.85 [[ 7.47225144e-01 -6.60069342e-01 7.72207728e-02 2.24208357e+02] [ 6.57666727e-01 7.51158958e-01 5.68743965e-02 -4.04747222e+01] [-9.55461207e-02 8.28755372e-03 9.95390504e-01 -2.68531660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.24629675700004 meters 0.08690340328112645 Centerline is valid? [True, True] Translation: X:224.23, Y:-40.46, Z:-26.86 [[ 7.45882127e-01 -6.61621879e-01 7.69177567e-02 2.24231714e+02] [ 6.59243864e-01 7.49790209e-01 5.66760153e-02 -4.04586727e+01] [-9.51702726e-02 8.43393226e-03 9.95425280e-01 -2.68560333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.27629675700004 meters 0.08603938430098562 Centerline is valid? [True, True] Translation: X:224.25, Y:-40.44, Z:-26.86 [[ 7.43871437e-01 -6.64002784e-01 7.58655969e-02 2.24254039e+02] [ 6.61699010e-01 7.47680683e-01 5.59286730e-02 -4.04416561e+01] [-9.38600359e-02 8.59644793e-03 9.95548289e-01 -2.68579686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.30629675700004 meters 0.08672785049195812 Centerline is valid? [True, True] Translation: X:224.28, Y:-40.43, Z:-26.86 [[ 7.42667380e-01 -6.65457892e-01 7.49063236e-02 2.24278694e+02] [ 6.63216937e-01 7.46385287e-01 5.52476024e-02 -4.04262831e+01] [-9.26739308e-02 8.64855036e-03 9.95658950e-01 -2.68603263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.33629675700004 meters 0.08884133862495125 Centerline is valid? [True, True] Translation: X:224.30, Y:-40.41, Z:-26.86 [[ 7.37745625e-01 -6.71100064e-01 7.31853626e-02 2.24304018e+02] [ 6.68985910e-01 7.41310689e-01 5.40029077e-02 -4.04133326e+01] [-9.04944464e-02 9.11956746e-03 9.95855205e-01 -2.68632185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.36629675700004 meters 0.08946653457764257 Centerline is valid? [True, True] Translation: X:224.33, Y:-40.40, Z:-26.87 [[ 7.35046684e-01 -6.74047580e-01 7.32545675e-02 2.24327812e+02] [ 6.71941163e-01 7.38627229e-01 5.40822485e-02 -4.03977921e+01] [-9.05618269e-02 9.46978185e-03 9.95845811e-01 -2.68655162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39629675700002 meters 0.09101714857816172 Centerline is valid? [True, True] Translation: X:224.35, Y:-40.38, Z:-26.87 [[ 7.32212397e-01 -6.77008526e-01 7.43267185e-02 2.24351722e+02] [ 6.74852098e-01 7.35907793e-01 5.49032404e-02 -4.03848764e+01] [-9.18675732e-02 9.95870870e-03 9.95721433e-01 -2.68667330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42629675700002 meters 0.09296264739216879 Centerline is valid? [True, True] Translation: X:224.38, Y:-40.37, Z:-26.87 [[ 7.27213469e-01 -6.82164348e-01 7.62389247e-02 2.24377675e+02] [ 6.79920863e-01 7.31118123e-01 5.63374761e-02 -4.03724455e+01] [-9.41710772e-02 1.08670640e-02 9.95496718e-01 -2.68652611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45629675700002 meters 0.09375114600773564 Centerline is valid? [True, True] Translation: X:224.40, Y:-40.36, Z:-26.87 [[ 7.24801077e-01 -6.84582125e-01 7.75287953e-02 2.24400448e+02] [ 6.82272476e-01 7.28847387e-01 5.73215085e-02 -4.03580252e+01] [-9.57479399e-02 1.13490720e-02 9.95340912e-01 -2.68667002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48629675700002 meters 0.09547370075695262 Centerline is valid? [True, True] Translation: X:224.42, Y:-40.34, Z:-26.87 [[ 7.24608051e-01 -6.84929160e-01 7.62575804e-02 2.24422972e+02] [ 6.82694541e-01 7.28523729e-01 5.64033738e-02 -4.03427924e+01] [-9.41877723e-02 1.11902951e-02 9.95491557e-01 -2.68700490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51629675700002 meters 0.09608673761256771 Centerline is valid? [True, True] Translation: X:224.44, Y:-40.33, Z:-26.87 [[ 7.25001078e-01 -6.84621089e-01 7.52821498e-02 2.24443993e+02] [ 6.82439099e-01 7.28816355e-01 5.57099449e-02 -4.03255373e+01] [-9.30070651e-02 1.09857124e-02 9.95604841e-01 -2.68739629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54629675700002 meters 0.09721718592681937 Centerline is valid? [True, True] Translation: X:224.47, Y:-40.31, Z:-26.88 [[ 7.27971398e-01 -6.81823662e-01 7.19314807e-02 2.24465366e+02] [ 6.79817205e-01 7.31446285e-01 5.32437761e-02 -4.03095797e+01] [-8.89168807e-02 1.01403120e-02 9.95987431e-01 -2.68821059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57629675700002 meters 0.09666362029480305 Centerline is valid? [True, True] Translation: X:224.49, Y:-40.29, Z:-26.89 [[ 7.29269312e-01 -6.80507993e-01 7.12400267e-02 2.24487609e+02] [ 6.78531320e-01 7.32674286e-01 5.27602071e-02 -4.02928706e+01] [-8.80994784e-02 9.86218936e-03 9.96062859e-01 -2.68851245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60629675700002 meters 0.09016611306092288 Centerline is valid? [True, True] Translation: X:224.50, Y:-40.27, Z:-26.89 [[ 7.30443718e-01 -6.79355973e-01 7.01957045e-02 2.24502913e+02] [ 6.77429447e-01 7.33746590e-01 5.20123579e-02 -4.02664891e+01] [-8.68407648e-02 9.56053720e-03 9.96176329e-01 -2.68853568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.63629675700003 meters 0.09089680764727394 Centerline is valid? [True, True] Translation: X:224.53, Y:-40.25, Z:-26.88 [[ 7.31421781e-01 -6.78217867e-01 7.10119902e-02 2.24528490e+02] [ 6.76238340e-01 7.34799299e-01 5.26469113e-02 -4.02542562e+01] [-8.78856366e-02 9.51393275e-03 9.96085137e-01 -2.68848981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.66629675700003 meters 0.08769134537710492 Centerline is valid? [True, True] Translation: X:224.55, Y:-40.23, Z:-26.88 [[ 7.31602653e-01 -6.77856481e-01 7.25820146e-02 2.24548740e+02] [ 6.75783946e-01 7.35130788e-01 5.38403528e-02 -4.02337474e+01] [-8.98533056e-02 9.66001528e-03 9.95908162e-01 -2.68838667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.69629675700003 meters 0.08742103955718894 Centerline is valid? [True, True] Translation: X:224.57, Y:-40.22, Z:-26.89 [[ 7.32528354e-01 -6.76599873e-01 7.49321111e-02 2.24571664e+02] [ 6.74381449e-01 7.36285743e-01 5.56144376e-02 -4.02172523e+01] [-9.28001665e-02 9.79367320e-03 9.95636587e-01 -2.68856194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.72629675700003 meters 0.08799446719619572 Centerline is valid? [True, True] Translation: X:224.60, Y:-40.20, Z:-26.89 [[ 7.35010670e-01 -6.73621506e-01 7.74169318e-02 2.24595430e+02] [ 6.71233907e-01 7.39012730e-01 5.74910995e-02 -4.02032625e+01] [-9.59393392e-02 9.70829799e-03 9.95339838e-01 -2.68863374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.75629675700003 meters 0.08853381113470415 Centerline is valid? [True, True] Translation: X:224.62, Y:-40.19, Z:-26.89 [[ 7.36442665e-01 -6.71908740e-01 7.86819291e-02 2.24618059e+02] [ 6.69430921e-01 7.40571368e-01 5.84490362e-02 -4.01877507e+01] [-9.75420021e-02 9.62775233e-03 9.95184839e-01 -2.68887213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.78629675700003 meters 0.08901558648517445 Centerline is valid? [True, True] Translation: X:224.64, Y:-40.17, Z:-26.89 [[ 7.37053415e-01 -6.71203593e-01 7.89810090e-02 2.24640735e+02] [ 6.68700119e-01 7.41211531e-01 5.86993785e-02 -4.01712022e+01] [-9.79408684e-02 9.55003273e-03 9.95146413e-01 -2.68924957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.81629675700003 meters 0.08864583424052883 Centerline is valid? [True, True] Translation: X:224.66, Y:-40.15, Z:-26.90 [[ 7.39480773e-01 -6.68457514e-01 7.95785040e-02 2.24661489e+02] [ 6.65897048e-01 7.43693035e-01 5.91759436e-02 -4.01522888e+01] [-9.87385833e-02 9.23161829e-03 9.95070585e-01 -2.68962618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.84629675700003 meters 0.08926759235906502 Centerline is valid? [True, True] Translation: X:224.68, Y:-40.14, Z:-26.90 [[ 7.41285223e-01 -6.66569146e-01 7.86243689e-02 2.24683654e+02] [ 6.64057491e-01 7.45390588e-01 5.84852103e-02 -4.01367908e+01] [-9.75903013e-02 8.85687890e-03 9.95187263e-01 -2.69008533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.87629675700003 meters 0.08980282380614868 Centerline is valid? [True, True] Translation: X:224.71, Y:-40.12, Z:-26.91 [[ 7.42799227e-01 -6.64984458e-01 7.77494596e-02 2.24706025e+02] [ 6.62517030e-01 7.46808495e-01 5.78641285e-02 -4.01212282e+01] [-9.65427030e-02 8.52891110e-03 9.95292301e-01 -2.69055158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.90629675700004 meters 0.09096986667298385 Centerline is valid? [True, True] Translation: X:224.73, Y:-40.11, Z:-26.91 [[ 7.42886945e-01 -6.64968704e-01 7.70429075e-02 2.24730195e+02] [ 6.62542814e-01 7.46823708e-01 5.73704493e-02 -4.01067602e+01] [-9.56870232e-02 8.42446697e-03 9.95375819e-01 -2.69101587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.93629675700004 meters 0.08973204745110239 Centerline is valid? [True, True] Translation: X:224.75, Y:-40.09, Z:-26.91 [[ 7.45183717e-01 -6.62557631e-01 7.56215177e-02 2.24751960e+02] [ 6.60205739e-01 7.48968822e-01 5.63390224e-02 -4.00897844e+01] [-9.39660083e-02 7.94283786e-03 9.95543721e-01 -2.69137045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.96629675700004 meters 0.0915339993761279 Centerline is valid? [True, True] Translation: X:224.78, Y:-40.08, Z:-26.92 [[ 7.45757285e-01 -6.61909078e-01 7.56468355e-02 2.24775791e+02] [ 6.59549399e-01 7.49543127e-01 5.63887556e-02 -4.00773082e+01] [-9.40247949e-02 7.84049962e-03 9.95538982e-01 -2.69179288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.99629675700004 meters 0.0915339993761279 Centerline is valid? [True, True] Translation: X:224.80, Y:-40.06, Z:-26.92 [[ 7.45589270e-01 -6.62099187e-01 7.56393276e-02 2.24797833e+02] [ 6.59739462e-01 7.49375083e-01 5.63988248e-02 -4.00606667e+01] [-9.40238435e-02 7.85189069e-03 9.95538982e-01 -2.69208748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.02629675700004 meters 0.08164004345913645 Centerline is valid? [True, True] Translation: X:224.81, Y:-40.03, Z:-26.92 [[ 7.45402415e-01 -6.62277355e-01 7.59206439e-02 2.24807982e+02] [ 6.59898084e-01 7.49217318e-01 5.66385867e-02 -4.00264786e+01] [-9.43915146e-02 7.88134813e-03 9.95503956e-01 -2.69211523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.05629675700004 meters 0.0865690486598329 Centerline is valid? [True, True] Translation: X:224.84, Y:-40.02, Z:-26.93 [[ 7.46413196e-01 -6.61203380e-01 7.53487267e-02 2.24836340e+02] [ 6.58851255e-01 7.50167583e-01 5.62460810e-02 -4.00197268e+01] [-9.37142710e-02 7.66078600e-03 9.95569660e-01 -2.69254559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.08629675700004 meters 0.08624585824811144 Centerline is valid? [True, True] Translation: X:224.86, Y:-40.00, Z:-26.93 [[ 7.47208560e-01 -6.60332233e-01 7.51046603e-02 2.24858377e+02] [ 6.57989972e-01 7.50935958e-01 5.60748008e-02 -4.00023632e+01] [-9.34267885e-02 7.51854218e-03 9.95597764e-01 -2.69288723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.11629675700004 meters 0.08532768923300181 Centerline is valid? [True, True] Translation: X:224.88, Y:-39.98, Z:-26.93 [[ 7.48925416e-01 -6.58470515e-01 7.43458259e-02 2.24878732e+02] [ 6.56163808e-01 7.52572169e-01 5.55354685e-02 -3.99826282e+01] [-9.25190680e-02 7.19111632e-03 9.95684945e-01 -2.69338303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14629675700002 meters 0.07906226796733502 Centerline is valid? [True, True] Translation: X:224.89, Y:-39.95, Z:-26.94 [[ 7.49246337e-01 -6.58300452e-01 7.25978108e-02 2.24891320e+02] [ 6.56097962e-01 7.52722916e-01 5.42556452e-02 -3.99522692e+01] [-9.03625516e-02 6.98043233e-03 9.95884473e-01 -2.69351545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17629675700002 meters 0.07981390510074639 Centerline is valid? [True, True] Translation: X:224.91, Y:-39.93, Z:-26.94 [[ 7.49089925e-01 -6.58773827e-01 6.98665052e-02 2.24912345e+02] [ 6.56733765e-01 7.52310767e-01 5.22424343e-02 -3.99347575e+01] [-8.69772724e-02 6.74941183e-03 9.96187432e-01 -2.69410969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20629675700002 meters 0.0864339748052251 Centerline is valid? [True, True] Translation: X:224.94, Y:-39.93, Z:-26.95 [[ 7.48186371e-01 -6.59841565e-01 6.94713069e-02 2.24942886e+02] [ 6.57827007e-01 7.51373841e-01 5.19709578e-02 -3.99296506e+01] [-8.64915209e-02 6.81613958e-03 9.96229269e-01 -2.69486964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23629675700002 meters 0.08194630977053709 Centerline is valid? [True, True] Translation: X:224.96, Y:-39.90, Z:-26.95 [[ 7.46479770e-01 -6.61846132e-01 6.87579141e-02 2.24958492e+02] [ 6.59878795e-01 7.49607454e-01 5.14649523e-02 -3.99035607e+01] [-8.56033245e-02 6.95434369e-03 9.96305028e-01 -2.69491047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26629675700002 meters 0.08920379154151586 Centerline is valid? [True, True] Translation: X:224.99, Y:-39.90, Z:-26.96 [[ 7.44898933e-01 -6.63702638e-01 6.80028491e-02 2.24988939e+02] [ 6.61784745e-01 7.47963045e-01 5.09139845e-02 -3.98994450e+01] [-8.46553639e-02 7.07747548e-03 9.96385156e-01 -2.69562464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29629675700002 meters 0.08351740415337452 Centerline is valid? [True, True] Translation: X:225.00, Y:-39.87, Z:-26.96 [[ 7.42851140e-01 -6.65946683e-01 6.84631148e-02 2.25004075e+02] [ 6.64010700e-01 7.45962926e-01 5.12747754e-02 -3.98717935e+01] [-8.52172121e-02 7.37071535e-03 9.96335134e-01 -2.69559954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32629675700002 meters 0.08612868086574073 Centerline is valid? [True, True] Translation: X:225.03, Y:-39.86, Z:-26.96 [[ 7.40210714e-01 -6.68934741e-01 6.79294562e-02 2.25027051e+02] [ 6.67038997e-01 7.43281936e-01 5.09012895e-02 -3.98575809e+01] [-8.45403786e-02 7.63391649e-03 9.96390811e-01 -2.69612260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35629675700002 meters 0.08827933465168425 Centerline is valid? [True, True] Translation: X:225.05, Y:-39.84, Z:-26.97 [[ 7.37033408e-01 -6.72576450e-01 6.65031899e-02 2.25049488e+02] [ 6.70771817e-01 7.39985906e-01 4.98601019e-02 -3.98417863e+01] [-8.27461536e-02 7.85990470e-03 9.96539661e-01 -2.69661371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.38629675700003 meters 0.09014763457019817 Centerline is valid? [True, True] Translation: X:225.07, Y:-39.83, Z:-26.97 [[ 7.34785883e-01 -6.75120778e-01 6.55868988e-02 2.25073127e+02] [ 6.73374492e-01 7.37663580e-01 4.91857255e-02 -3.98262989e+01] [-8.15873719e-02 8.02356793e-03 9.96633896e-01 -2.69700532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.41629675700003 meters 0.09266646086890525 Centerline is valid? [True, True] Translation: X:225.10, Y:-39.81, Z:-26.97 [[ 7.32645070e-01 -6.77466597e-01 6.53468535e-02 2.25097200e+02] [ 6.75740130e-01 7.35507441e-01 4.90314183e-02 -3.98119867e+01] [-8.12802451e-02 8.23486440e-03 9.96657267e-01 -2.69746989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.44629675700003 meters 0.09693027606876937 Centerline is valid? [True, True] Translation: X:225.12, Y:-39.80, Z:-26.98 [[ 7.28578867e-01 -6.81838989e-01 6.53332046e-02 2.25121680e+02] [ 6.80128509e-01 7.31450520e-01 4.90443497e-02 -3.97996418e+01] [-8.12283563e-02 8.70229829e-03 9.96657526e-01 -2.69783527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.47629675700003 meters 0.10058907636286642 Centerline is valid? [True, False] Translation: X:225.15, Y:-39.80, Z:-26.94 [[ 7.54979665e-01 -6.55664806e-01 -1.04578779e-02 2.25151513e+02] [ 6.55747800e-01 7.54900857e-01 1.09324806e-02 -3.97960461e+01] [ 7.26618166e-04 -1.51115310e-02 9.99885550e-01 -2.69436701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.50629675700003 meters 0.09757506553043738 Centerline is valid? [False, True] Translation: X:225.17, Y:-39.80, Z:-26.91 [[ 7.72298155e-01 -6.31755312e-01 -6.66392134e-02 2.25168026e+02] [ 6.32518488e-01 7.74457935e-01 -1.16305852e-02 -3.98048660e+01] [ 5.89569515e-02 -3.31682550e-02 9.97709349e-01 -2.69121413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.53629675700003 meters 0.10071230265516383 Centerline is valid? [True, False] Translation: X:225.17, Y:-39.82, Z:-26.89 [[ 7.81615389e-01 -6.14340678e-01 -1.07994982e-01 2.25168468e+02] [ 6.15834019e-01 7.87542747e-01 -2.29103118e-02 -3.98184823e+01] [ 9.91254016e-02 -4.85999318e-02 9.93887419e-01 -2.68877231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.56629675700003 meters 0.10225725551127636 Centerline is valid? [False, False] Translation: X:225.15, Y:-39.83, Z:-26.87 [[ 7.88927153e-01 -5.97755139e-01 -1.42417488e-01 2.25149895e+02] [ 6.00840550e-01 7.98975288e-01 -2.50823064e-02 -3.98319306e+01] [ 1.28781131e-01 -6.57820894e-02 9.89488826e-01 -2.68691494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.59629675700003 meters 0.09920340295332368 Centerline is valid? [False, True] Translation: X:225.12, Y:-39.85, Z:-26.86 [[ 7.95370854e-01 -5.81560021e-01 -1.70801486e-01 2.25121106e+02] [ 5.86051001e-01 8.09784551e-01 -2.81638973e-02 -3.98536064e+01] [ 1.54691401e-01 -7.76976388e-02 9.84902862e-01 -2.68550355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.62629675700003 meters 0.09578275576194725 Centerline is valid? [True, True] Translation: X:225.12, Y:-39.79, Z:-26.90 [[ 7.99245286e-01 -5.85193003e-01 -1.36952992e-01 2.25124031e+02] [ 5.80033202e-01 8.10733470e-01 -7.92005366e-02 -3.97917399e+01] [ 1.57379974e-01 -1.61366270e-02 9.87406276e-01 -2.68953532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.65629675700004 meters 0.09665713550883827 Centerline is valid? [True, True] Translation: X:225.14, Y:-39.77, Z:-26.89 [[ 8.01804999e-01 -5.82080771e-01 -1.35243185e-01 2.25144764e+02] [ 5.76999033e-01 8.12987210e-01 -7.82554270e-02 -3.97729480e+01] [ 1.55501959e-01 -1.52895943e-02 9.87717252e-01 -2.68915809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.68629675700004 meters 0.0895560153458708 Centerline is valid? [True, True] Translation: X:225.15, Y:-39.73, Z:-26.89 [[ 8.09101798e-01 -5.73207633e-01 -1.29565774e-01 2.25153431e+02] [ 5.68426386e-01 8.19307686e-01 -7.50090665e-02 -3.97313745e+01] [ 1.49150004e-01 -1.29586343e-02 9.88729665e-01 -2.68862263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.71629675700004 meters 0.08828546139803539 Centerline is valid? [True, True] Translation: X:225.17, Y:-39.71, Z:-26.88 [[ 8.13218019e-01 -5.68264816e-01 -1.25505191e-01 2.25171236e+02] [ 5.63717783e-01 8.22763357e-01 -7.26823235e-02 -3.97064079e+01] [ 1.44563879e-01 -1.16429329e-02 9.89426969e-01 -2.68834142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.74629675700004 meters 0.0871392777788522 Centerline is valid? [True, True] Translation: X:225.19, Y:-39.68, Z:-26.88 [[ 8.17351663e-01 -5.63231099e-01 -1.21272375e-01 2.25190110e+02] [ 5.58928464e-01 8.26234463e-01 -7.02537161e-02 -3.96824855e+01] [ 1.39768494e-01 -1.03605907e-02 9.90130005e-01 -2.68798140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.77629675700004 meters 0.08588981597197178 Centerline is valid? [True, True] Translation: X:225.20, Y:-39.65, Z:-26.87 [[ 8.25072083e-01 -5.54120756e-01 -1.10481878e-01 2.25202144e+02] [ 5.50467875e-01 8.32397913e-01 -6.40221294e-02 -3.96494258e+01] [ 1.27440876e-01 -7.99385311e-03 9.91813955e-01 -2.68731702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.80629675700004 meters 0.08746993291068396 Centerline is valid? [True, True] Translation: X:225.22, Y:-39.62, Z:-26.87 [[ 8.31557582e-01 -5.45782457e-01 -1.03118847e-01 2.25218812e+02] [ 5.42535506e-01 8.37903663e-01 -5.97718709e-02 -3.96243356e+01] [ 1.19026099e-01 -6.24188357e-03 9.92871506e-01 -2.68673777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.83629675700004 meters 0.0818371762953896 Centerline is valid? [True, True] Translation: X:225.23, Y:-39.59, Z:-26.87 [[ 8.33247282e-01 -5.43834209e-01 -9.97161995e-02 2.25231825e+02] [ 5.40781031e-01 8.39173069e-01 -5.78311097e-02 -3.95877695e+01] [ 1.15129685e-01 -5.73701423e-03 9.93333903e-01 -2.68701010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.86629675700004 meters 0.08216097728663933 Centerline is valid? [True, True] Translation: X:225.25, Y:-39.57, Z:-26.87 [[ 8.34850545e-01 -5.42068803e-01 -9.58435231e-02 2.25252589e+02] [ 5.39233675e-01 8.40317704e-01 -5.56165373e-02 -3.95659493e+01] [ 1.10686999e-01 -5.25055874e-03 9.93841446e-01 -2.68666497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.89629675700002 meters 0.08460096293822417 Centerline is valid? [True, True] Translation: X:225.27, Y:-39.54, Z:-26.86 [[ 8.37426596e-01 -5.39910463e-01 -8.49316643e-02 2.25268406e+02] [ 5.37672155e-01 8.41711085e-01 -4.93062150e-02 -3.95392363e+01] [ 9.81088647e-02 -4.37505519e-03 9.95166071e-01 -2.68600637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92629675700002 meters 0.08627735055429775 Centerline is valid? [True, True] Translation: X:225.29, Y:-39.52, Z:-26.85 [[ 8.38366771e-01 -5.39439458e-01 -7.83978865e-02 2.25288373e+02] [ 5.37527905e-01 8.42015088e-01 -4.55449612e-02 -3.95169305e+01] [ 9.05809525e-02 -3.95766959e-03 9.95881232e-01 -2.68541228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95629675700002 meters 0.0922880852268466 Centerline is valid? [True, True] Translation: X:225.30, Y:-39.49, Z:-26.85 [[ 8.39557388e-01 -5.39748971e-01 -6.17611595e-02 2.25301330e+02] [ 5.38564453e-01 8.41820158e-01 -3.58768913e-02 -3.94855637e+01] [ 7.13563042e-02 -3.14165592e-03 9.97445942e-01 -2.68452336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98629675700002 meters 0.09660445991164426 Centerline is valid? [True, True] Translation: X:225.31, Y:-39.44, Z:-26.86 [[ 8.38636154e-01 -5.43248987e-01 -3.96224669e-02 2.25311233e+02] [ 5.42765016e-01 8.39568780e-01 -2.30304527e-02 -3.94408529e+01] [ 4.57770563e-02 -2.19151860e-03 9.98949277e-01 -2.68574892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01629675700002 meters 0.1009272060214651 Centerline is valid? [True, False] Translation: X:225.26, Y:-39.47, Z:-26.84 [[ 8.44715735e-01 -5.31874463e-01 -5.97066337e-02 2.25262049e+02] [ 5.32148797e-01 8.46558111e-01 -1.25309093e-02 -3.94743134e+01] [ 5.72100057e-02 -2.11877570e-02 9.98137312e-01 -2.68448396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04629675700002 meters 0.10583252847110597 Centerline is valid? [False, False] Translation: X:225.21, Y:-39.50, Z:-26.84 [[ 8.48670077e-01 -5.24896173e-01 -6.51391451e-02 2.25214177e+02] [ 5.25980830e-01 8.50496223e-01 -5.83702473e-04 -3.95016943e+01] [ 5.57069801e-02 -3.37665708e-02 9.97876020e-01 -2.68416191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07629675700002 meters 0.11969978086263816 Centerline is valid? [False, False] Translation: X:225.17, Y:-39.52, Z:-26.83 [[ 8.50535823e-01 -5.20640497e-01 -7.43120895e-02 2.25171978e+02] [ 5.22901640e-01 8.52284020e-01 1.36317151e-02 -3.95167368e+01] [ 5.62377835e-02 -5.04521755e-02 9.97141860e-01 -2.68331611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10629675700002 meters 0.11963169303155247 Centerline is valid? [False, False] Translation: X:225.17, Y:-39.52, Z:-26.83 [[ 8.53291062e-01 -5.15847300e-01 -7.61309805e-02 2.25166808e+02] [ 5.18447521e-01 8.54917349e-01 1.81244164e-02 -3.95155193e+01] [ 5.57362648e-02 -5.49353206e-02 9.96933087e-01 -2.68303195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.13629675700003 meters 0.13391789716591468 Centerline is valid? [False, False] Translation: X:225.15, Y:-39.52, Z:-26.83 [[ 8.56328145e-01 -5.11181530e-01 -7.34544160e-02 2.25148371e+02] [ 5.14269852e-01 8.57074963e-01 3.08062838e-02 -3.95172384e+01] [ 4.72083376e-02 -6.41556795e-02 9.96822663e-01 -2.68283029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.16629675700003 meters 0.14045010229812338 Centerline is valid? [False, False] Translation: X:225.14, Y:-39.52, Z:-26.83 [[ 8.59438449e-01 -5.07792060e-01 -5.92686761e-02 2.25139530e+02] [ 5.10450959e-01 8.58762615e-01 4.43462483e-02 -3.95197569e+01] [ 2.83790505e-02 -6.83666234e-02 9.97256554e-01 -2.68336776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.19629675700003 meters 0.1530313518265604 Centerline is valid? [False, False] Translation: X:225.13, Y:-39.51, Z:-26.84 [[ 8.63171302e-01 -5.02868477e-01 -4.53717655e-02 2.25130262e+02] [ 5.04751977e-01 8.61664565e-01 5.25320838e-02 -3.95134914e+01] [ 1.26785136e-02 -6.82456755e-02 9.97587983e-01 -2.68368845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.22629675700003 meters 0.15892750586528015 Centerline is valid? [False, False] Translation: X:225.13, Y:-39.51, Z:-26.84 [[ 8.69022080e-01 -4.94228671e-01 -2.32087244e-02 2.25126326e+02] [ 4.94556170e-01 8.66294971e-01 7.03364592e-02 -3.95122265e+01] [-1.46566935e-02 -7.26019540e-02 9.97253297e-01 -2.68413272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.25629675700003 meters 0.17435890326277376 Centerline is valid? [False, False] Translation: X:225.12, Y:-39.50, Z:-26.85 [[ 8.76628124e-01 -4.81166641e-01 -1.33974398e-03 2.25124092e+02] [ 4.79898117e-01 8.74108049e-01 7.50527539e-02 -3.94998196e+01] [-3.49418005e-02 -6.64362955e-02 9.97178665e-01 -2.68472537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 3973.73 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%| | 0/7942 [00:00